diff --git a/.gitattributes b/.gitattributes
index 9293c100f7ea7255339804d7457e4f93bd06fd19..b6e8ceee089127b6cb841a51d1c8a1b95de09a38 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3515,7 +3515,5 @@ dataset/food/beverages/d8a2d5e0dee15121969ce610275be368/canned_coke_011.usd filt
 dataset/food/beverages/d8a2d5e0dee15121969ce610275be368/mesh/canned_coke_011.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/0150e12e33705691b84fbc533aa504d3/mesh/peach_003.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/0150e12e33705691b84fbc533aa504d3/peach_003.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/beverages/f95b2b0c0af35fd794cdfe16dbee5503/beverage_bottle_020.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/beverages/f95b2b0c0af35fd794cdfe16dbee5503/mesh/beverage_bottle_020.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/beverages/ee5ce721b8e65517914b384bb4cb6a35/mesh/milk_carton_006.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/beverages/ee5ce721b8e65517914b384bb4cb6a35/milk_carton_006.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mesh/milk_carton_009.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/milk_carton_009.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mesh/material.mtl b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0732c553481b3468b0618041ffd9488e7c0dc66d
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl milk_carton_009_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd milk_carton_009_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mesh/material_0.png b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5187a6251bc175feecf783594493d19245876a4c
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afde6ea2c653ff9b9ac2a21836ff590c9ee6e5a298ea4583a061eb950bfb5869
+size 10172172
diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mesh/milk_carton_009.glb b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mesh/milk_carton_009.glb
new file mode 100644
index 0000000000000000000000000000000000000000..2a16ad31c0d787537a8ae7051d8826a264f5ad7d
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mesh/milk_carton_009.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:262ca249e77b31753773e8c687cebcf3bd0adee6bb4ac35514fd1184863805a0
+size 13390908
diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mesh/milk_carton_009.mtl b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mesh/milk_carton_009.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cc54f992bc26277ea3dd1f32700a1b4ed98d9b17
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mesh/milk_carton_009.mtl
@@ -0,0 +1,6 @@
+newmtl milk_carton_009_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mesh/milk_carton_009.obj b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mesh/milk_carton_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b27684de6a14eb538845d73afa911897f62a21a
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mesh/milk_carton_009.obj
@@ -0,0 +1,117738 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl milk_carton_009_geometry_Looks_material_0
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diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mesh/milk_carton_009_collision.obj b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mesh/milk_carton_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4591887cb165ff41842f59ea8362a32ab55b909b
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mesh/milk_carton_009_collision.obj
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diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mesh/milk_carton_009_geometry_Looks_material_0.png b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mesh/milk_carton_009_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5187a6251bc175feecf783594493d19245876a4c
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mesh/milk_carton_009_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afde6ea2c653ff9b9ac2a21836ff590c9ee6e5a298ea4583a061eb950bfb5869
+size 10172172
diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/milk_carton_009.urdf b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/milk_carton_009.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d93d94c89a774401bb701c78038e0bc40b8130ac
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/milk_carton_009.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="milk_carton_009">
+   <link name="milk_carton_009">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/milk_carton_009.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/milk_carton_009_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>1.000000</scale>
+         <uuid>ed7b53a123865928a8c9fc6b5f97e59a</uuid>
+         <domain>food</domain>
+         <super_category>beverages</super_category>
+         <category>milk_carton</category>
+         <name>household milk carton</name>
+         <color>white,red</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>rectangular carton with handle and cap, red and white design</description>
+         <min_height>0.1724</min_height>
+         <max_height>0.1724</max_height>
+         <real_height>0.1724</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506215021</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_container,is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>11</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/milk_carton_009.usd b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/milk_carton_009.usd
new file mode 100644
index 0000000000000000000000000000000000000000..7dafae6d8696b929c8e70dd73340511c5508da47
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/milk_carton_009.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a20bd976ae4d2ab354a4d44480c1d4d06d1a1647684c83e6682c4b9830bf932f
+size 4841053
diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/material_0.png b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5187a6251bc175feecf783594493d19245876a4c
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afde6ea2c653ff9b9ac2a21836ff590c9ee6e5a298ea4583a061eb950bfb5869
+size 10172172
diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009.obj b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9825c07310e5f8771f33452a51445ae5298ef913
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009.obj
@@ -0,0 +1,117738 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl milk_carton_009_geometry_Looks_material_0
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diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision.obj b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bc38a658e7c4ead3824b4917e33d42d34fcac98
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision.obj
@@ -0,0 +1,9589 @@
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diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_0.obj b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24ec65fc1e2e2e602e0a0565b02159150737e61a
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_0.obj
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+
diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_1.obj b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2c4648fbdc1e82c3d873ee98048c3279eb2c684
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_1.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.05471378 -0.00098736 0.06237340
+v -0.05471378 -0.00098736 0.06337340
+v -0.05471378 0.00001265 0.06237340
+v -0.05471378 0.00001265 0.06337340
+v 0.05602922 -0.00098736 0.06237340
+v 0.05602922 -0.00098736 0.06337340
+v 0.05602922 0.00001265 0.06237340
+v 0.05602922 0.00001265 0.06337340
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_10.obj b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..caf6af6bc62d8da669358e03c24bd88f9f2a0cfd
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_10.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.03453679 -0.00831562 0.05772296
+v -0.02890619 -0.00831562 0.05771880
+v -0.03579688 -0.00831562 0.05772296
+v -0.02890619 -0.02804088 0.04679563
+v -0.02890619 -0.00831557 0.04356313
+v -0.03579688 -0.00831560 0.05118019
+v -0.03579688 -0.00838400 0.05768415
+v -0.02890619 -0.03117133 0.04505735
+v -0.03525251 -0.00831557 0.04356313
+v -0.02890619 -0.03326155 0.04356304
+v -0.03577597 -0.01694997 0.04356310
+v -0.03579688 -0.01731624 0.04356310
+v -0.03579688 -0.00869655 0.05750395
+v -0.03579688 -0.02543053 0.04754834
+v -0.03579688 -0.02620460 0.04707841
+v -0.03579688 -0.02715693 0.04649899
+v -0.03579688 -0.02778937 0.04611086
+v -0.03579688 -0.02959878 0.04499497
+v -0.03579688 -0.03086609 0.04420901
+v -0.03579688 -0.03149609 0.04381810
+v -0.03579688 -0.03190388 0.04356304
+v -0.02890619 -0.03118354 0.04504904
+v -0.03579688 -0.00916295 0.05723364
+v -0.03579688 -0.01013969 0.05666391
+v -0.03579688 -0.01134596 0.05595973
+v -0.03579688 -0.01209072 0.05552447
+v -0.03579688 -0.01300886 0.05498662
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+v -0.03579688 -0.01681814 0.05273684
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+v -0.03579688 -0.01893034 0.05147541
+v -0.03579688 -0.01979964 0.05095559
+v -0.03579688 -0.02078370 0.05036368
+v -0.03579688 -0.02199730 0.04963178
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+
diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_11.obj b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ebe9b0e4601217a5bbff8c26587237ab1c97e2e
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_11.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.03719213 -0.00831823 0.05772571
+v 0.03719213 -0.00831821 0.05117538
+v 0.02858990 -0.00831823 0.05771740
+v 0.02858990 -0.02982916 0.04734769
+v 0.03719213 -0.00916429 0.05723496
+v 0.03652356 -0.00831818 0.04356313
+v 0.03719213 -0.01837989 0.04356309
+v 0.03695973 -0.01468322 0.04356311
+v 0.02858990 -0.00831818 0.04356313
+v 0.02858990 -0.03186754 0.04611109
+v 0.03719213 -0.02198546 0.04962543
+v 0.03719213 -0.02092592 0.05026730
+v 0.03719213 -0.01979871 0.05094937
+v 0.03719213 -0.01903855 0.05140824
+v 0.03719213 -0.01822893 0.05189622
+v 0.03719213 -0.01682055 0.05274050
+v 0.03719213 -0.01442293 0.05416287
+v 0.03719213 -0.01220493 0.05546185
+v 0.03719213 -0.01134585 0.05596370
+v 0.03719213 -0.03188315 0.04356304
+v 0.02858990 -0.03491077 0.04356303
+v 0.02858990 -0.03350501 0.04505332
+v 0.03719213 -0.03085485 0.04419798
+v 0.03719213 -0.02854834 0.04562035
+v 0.03719213 -0.02713997 0.04648818
+v 0.02858990 -0.03383822 0.04483013
+f 1 2 6
+f 1 6 9
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+f 1 4 5
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+f 1 19 18
+f 1 18 17
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+f 1 16 15
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+f 10 25 11
+f 20 22 26
+f 20 26 21
+
diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_12.obj b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26f560b02d00883b960a0f56a897b716b88423aa
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_12.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
+v -0.05885297 -0.01979927 0.04772632
+v -0.05879204 -0.02264241 0.04485219
+v -0.05878978 -0.02668622 0.04356306
+v -0.05879429 -0.02551797 0.04499388
+v -0.05877850 -0.01688441 0.05056294
+v -0.05874916 -0.00852844 0.05569165
+v -0.05878527 -0.01139936 0.05350237
+v -0.05878075 -0.00831792 0.05363990
+v -0.05878301 -0.00853770 0.05337458
+v -0.05876044 -0.02431731 0.04356307
+v -0.05873787 -0.01134614 0.05123252
+v -0.05873336 -0.02893484 0.04356305
+v -0.05871080 -0.01416386 0.05258136
+v -0.05871982 -0.02824776 0.04408676
+v -0.05871757 -0.02236713 0.04763185
+v -0.05863181 -0.01049483 0.05511793
+v -0.05869500 -0.00831793 0.05595975
+v -0.05874916 -0.00831792 0.05575694
+v -0.05877624 -0.00831792 0.05345098
+v -0.05864760 -0.02340120 0.04356307
+v -0.05861375 -0.00948387 0.05175624
+v -0.05859118 -0.03001057 0.04356305
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+v -0.05864535 -0.02463656 0.04662055
+v -0.05857765 -0.01588040 0.05216044
+v -0.05742668 -0.00831793 0.05712524
+v -0.05851671 -0.00831792 0.05314398
+v -0.05852574 -0.01823772 0.04621772
+v -0.05705205 -0.02193914 0.04356308
+v -0.05704302 -0.00831791 0.05170206
+v -0.05824138 -0.01293775 0.04932106
+v -0.05705205 -0.03108398 0.04356305
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+v -0.05848737 -0.02126365 0.04918351
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diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_13.obj b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd32f50b52ee9fd4af37ae29750cd687e15b7a18
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_13.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_14.obj b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..386d42ec59697a33e9d5903ed9b325e12fddefb1
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_14.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_15.obj b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c16c4abf3cb13cd70980d238665e3dc00712ff9
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_15.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_16.obj b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80d1cf715936527b4611075be87ba2d6abb64690
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_16.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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+v 0.05999911 -0.00831561 0.05567500
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+v 0.06001075 -0.00306006 0.05632596
+v 0.05999911 0.00262605 0.05971284
+v 0.05975474 0.00193843 0.06276063
+v 0.05977801 -0.00156705 0.06057362
+v 0.05960346 -0.00694363 0.05752388
+v 0.05992929 -0.00506504 0.05802133
+v -0.05877738 0.00262604 0.06276063
+v 0.05866088 -0.00831562 0.05704490
+v 0.05995256 -0.00570979 0.05437215
+v 0.05960346 -0.00831560 0.05283610
+v 0.05982456 -0.00411074 0.05473454
+v 0.05992929 -0.00068558 0.05731599
+v 0.05962673 0.00119194 0.05781635
+v 0.05861434 0.00262606 0.05835169
+v 0.05906817 0.00079243 0.06276062
+v 0.05842815 0.00014017 0.06276062
+v -0.05880065 0.00262604 0.06251773
+v -0.05874247 -0.00831561 0.05575855
+v -0.05869592 -0.00831562 0.05596161
+v -0.05840500 0.00115122 0.06276062
+v 0.05836996 -0.00831562 0.05716343
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+v -0.05819554 -0.00831560 0.05283610
+v 0.05843978 -0.00656232 0.05283611
+v 0.05791613 -0.00618853 0.05283611
+v 0.05833505 -0.00361592 0.05443920
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+v 0.05848633 0.00262606 0.05829922
+v 0.05576333 -0.00049067 0.06276062
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+v 0.05771830 -0.00754234 0.05793193
+v -0.05881229 0.00262604 0.06213397
+v -0.05877738 -0.00831561 0.05364153
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+v -0.05837009 -0.00702181 0.05759578
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+v -0.05850973 -0.00831561 0.05314506
+v -0.05816063 -0.00802000 0.05283610
+v 0.05553059 -0.00551485 0.05283611
+v 0.05654299 0.00262606 0.05780664
+v 0.02022464 0.00262608 0.05283614
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+v 0.05553059 -0.00831562 0.05772791
+v -0.05873083 0.00262605 0.05965261
+v -0.05874247 -0.00304935 0.05630945
+v -0.05876574 -0.00831561 0.05345207
+v -0.05711332 -0.00831562 0.05723727
+v -0.05649657 -0.00756054 0.05794262
+v -0.05718314 0.00011768 0.06276062
+v -0.05854464 -0.00409253 0.05472580
+v -0.05788135 -0.00717924 0.05283610
+v -0.01892145 0.00262608 0.05283614
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+v 0.00204801 -0.00831563 0.05970406
+v -0.05870756 0.00262605 0.05954184
+v -0.05864937 -0.00063631 0.05728976
+v -0.05867265 -0.00570979 0.05434689
+v -0.05423904 -0.00831562 0.05775511
+v -0.05423904 -0.00053887 0.06276062
+v -0.05837009 0.00124228 0.05777360
+v -0.05704350 -0.00360842 0.05443629
+v -0.05688058 -0.00633848 0.05283611
+v -0.05711332 -0.00650556 0.05283611
+v -0.05423904 -0.00553092 0.05283611
+v -0.05649657 0.00173817 0.05743648
+v -0.05423904 0.00262606 0.05771143
+v -0.05114366 -0.00054636 0.06276062
+v 0.00190837 -0.00831563 0.05970406
+v -0.05733442 0.00262606 0.05830602
+v -0.00615591 -0.00831563 0.05954084
+v -0.00075645 -0.00831563 0.05969920
+v -0.05395976 -0.00053994 0.06276062
+v -0.05721805 0.00262606 0.05826328
+v -0.05663621 -0.00617996 0.05283611
+v -0.05142294 -0.00054636 0.06276062
+f 1 2 3
+f 1 3 8
+f 1 8 20
+f 1 20 34
+f 1 34 46
+f 1 46 47
+f 1 47 58
+f 1 58 73
+f 1 73 80
+f 1 80 76
+f 1 76 62
+f 1 62 50
+f 1 50 38
+f 1 38 23
+f 1 23 13
+f 1 13 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 4 13 26
+f 4 26 42
+f 4 42 55
+f 4 55 66
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+f 4 48 35
+f 4 35 22
+f 4 22 21
+f 4 21 9
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+f 5 40 25
+f 5 25 24
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+f 5 43 29
+f 5 29 16
+f 5 16 6
+f 6 15 7
+f 6 16 17
+f 6 17 15
+f 7 15 8
+f 8 15 18
+f 8 18 17
+f 8 17 19
+f 8 19 20
+f 9 21 11
+f 9 11 10
+f 11 21 22
+f 11 22 14
+f 13 23 24
+f 13 24 25
+f 13 25 26
+f 14 22 27
+f 15 17 18
+f 16 28 17
+f 16 29 44
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+f 16 58 47
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+f 16 45 31
+f 16 31 30
+f 16 30 28
+f 17 28 30
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+f 17 31 32
+f 17 32 19
+f 19 32 33
+f 19 33 34
+f 19 34 20
+f 22 35 36
+f 22 36 37
+f 22 37 27
+f 23 38 24
+f 24 38 39
+f 25 40 41
+f 25 41 26
+f 26 41 42
+f 27 37 36
+f 29 43 44
+f 31 33 32
+f 31 45 33
+f 33 46 34
+f 33 45 47
+f 33 47 46
+f 35 48 49
+f 35 49 36
+f 38 50 39
+f 39 50 51
+f 39 51 52
+f 40 53 42
+f 40 42 41
+f 42 53 54
+f 42 54 55
+f 43 56 44
+f 43 52 56
+f 44 56 57
+f 48 59 49
+f 48 60 61
+f 48 61 59
+f 50 62 63
+f 50 63 64
+f 50 64 51
+f 51 64 52
+f 52 64 56
+f 53 65 54
+f 54 65 66
+f 54 66 55
+f 56 64 63
+f 56 63 62
+f 56 62 67
+f 56 67 68
+f 56 68 69
+f 56 69 70
+f 56 70 57
+f 58 71 72
+f 58 72 73
+f 60 74 61
+f 61 74 82
+f 61 82 75
+f 62 76 67
+f 65 77 66
+f 66 77 78
+f 66 78 75
+f 66 75 79
+f 67 76 80
+f 67 80 72
+f 67 72 68
+f 68 72 81
+f 68 81 69
+f 71 81 72
+f 72 80 73
+f 75 82 79
+
diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_17.obj b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4fe855f15fb03ea64663ec9d6a75ac466373aeb
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_17.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.03038163 0.01741292 0.04784874
+v 0.03014892 0.01741291 0.05037058
+v 0.02963696 0.01074296 0.04784872
+v -0.02905195 0.01741292 0.04784874
+v 0.02528533 0.01074295 0.05037056
+v 0.02668739 0.01074296 0.04959857
+v -0.02889487 0.01741291 0.05037058
+v -0.02835383 0.01074296 0.04784872
+v -0.02396729 0.01074295 0.05037056
+v -0.02561951 0.01074296 0.04947415
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 9
+f 2 9 5
+f 3 6 5
+f 3 5 9
+f 3 9 10
+f 3 10 8
+f 4 8 7
+f 7 8 10
+f 7 10 9
+
diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_18.obj b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c73eed8ea6af057aea4614f624f00a35d7850a63
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_18.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.03143271 -0.01453616 0.03701408
+v 0.03143271 -0.04225905 0.03701397
+v 0.03143271 -0.01453613 0.03062725
+v -0.03051208 -0.01453616 0.03701408
+v 0.03143271 -0.04796908 0.03337692
+v 0.01842649 -0.04998870 0.03701395
+v 0.03143271 -0.05224349 0.03062711
+v -0.03051208 -0.01453613 0.03062725
+v -0.03051208 -0.04227122 0.03701397
+v 0.03143271 -0.04893426 0.03275981
+v 0.01609810 -0.05127021 0.03701394
+v 0.03143271 -0.04968858 0.03227713
+v 0.01315730 -0.05286399 0.03701394
+v 0.01023469 -0.05425500 0.03701393
+v 0.00495944 -0.05541080 0.03701393
+v 0.00204895 -0.05584879 0.03701392
+v 0.00913113 -0.05502552 0.03496001
+v 0.00486242 -0.05571088 0.03349882
+v 0.00497156 -0.05535805 0.03062710
+v -0.03051208 -0.05222726 0.03062711
+v -0.03051208 -0.04369061 0.03610862
+v -0.01710567 -0.04998059 0.03701395
+v 0.00204895 -0.05595826 0.03349881
+v -0.00075845 -0.05584879 0.03701392
+v -0.00075845 -0.05596637 0.03349881
+v 0.00204895 -0.05565410 0.03062710
+v -0.00357192 -0.05573116 0.03349882
+v -0.00309290 -0.05553246 0.03701393
+v -0.00369319 -0.05541485 0.03701393
+v -0.00821050 -0.05444561 0.03701393
+v -0.00901695 -0.05418201 0.03701393
+v -0.01129076 -0.05315193 0.03701393
+v -0.01185467 -0.05285588 0.03701394
+v -0.01434071 -0.05152165 0.03701394
+v -0.03051208 -0.04968452 0.03227462
+v -0.00417827 -0.05530128 0.03062710
+v -0.00564564 -0.05519989 0.03118606
+v -0.03051208 -0.04545066 0.03498568
+v -0.03051208 -0.04605492 0.03459990
+v -0.03051208 -0.04714582 0.03390339
+v -0.03051208 -0.04796908 0.03337630
+v -0.00075845 -0.05565410 0.03062710
+v -0.00359011 -0.05536616 0.03062710
+f 1 2 5
+f 1 5 10
+f 1 10 12
+f 1 12 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 22
+f 1 22 34
+f 1 34 33
+f 1 33 32
+f 1 32 31
+f 1 31 30
+f 1 30 29
+f 1 29 28
+f 1 28 24
+f 1 24 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 11
+f 1 11 6
+f 1 6 2
+f 2 6 5
+f 3 7 19
+f 3 19 26
+f 3 26 42
+f 3 42 43
+f 3 43 36
+f 3 36 20
+f 3 20 8
+f 4 8 20
+f 4 20 35
+f 4 35 41
+f 4 41 40
+f 4 40 39
+f 4 39 38
+f 4 38 21
+f 4 21 9
+f 5 6 10
+f 6 11 7
+f 6 7 12
+f 6 12 10
+f 7 11 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 9 21 22
+f 16 23 18
+f 16 18 17
+f 16 24 25
+f 16 25 23
+f 18 23 26
+f 18 26 19
+f 20 27 28
+f 20 28 29
+f 20 29 30
+f 20 30 31
+f 20 31 32
+f 20 32 33
+f 20 33 34
+f 20 34 22
+f 20 22 35
+f 20 36 37
+f 20 37 27
+f 21 38 22
+f 22 38 39
+f 22 39 40
+f 22 40 41
+f 22 41 35
+f 23 25 26
+f 24 28 27
+f 24 27 25
+f 25 27 42
+f 25 42 26
+f 27 37 36
+f 27 36 43
+f 27 43 42
+
diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_19.obj b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1031226f7dc50e944eb30f463e1f53d6c2972d6
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_19.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v -0.00163841 -0.02021937 0.04356309
+v -0.00163841 -0.02021942 0.05778576
+v -0.00163841 -0.00831557 0.04356313
+v 0.02858990 -0.02021937 0.04356309
+v -0.00163841 -0.00831562 0.05778580
+v 0.02087896 -0.02021942 0.05778576
+v 0.02858990 -0.00831557 0.04356313
+v 0.02858990 -0.02021940 0.05111789
+v 0.01562688 -0.00831562 0.05778580
+v 0.02858990 -0.00831562 0.05771758
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 6
+f 1 6 2
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 10
+f 3 10 7
+f 4 7 10
+f 4 10 8
+f 6 8 10
+f 6 10 9
+
diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_2.obj b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c13f135aabdd6f1b6948e74dc6323ccc5f5663f4
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_2.obj
@@ -0,0 +1,457 @@
+# https://github.com/mikedh/trimesh
+v 0.00214527 -0.01187856 0.06276155
+v 0.00267288 -0.01573000 0.06890752
+v 0.00378766 -0.01224768 0.06276155
+v -0.00058211 -0.01195053 0.06276155
+v 0.00049012 -0.01555589 0.06908458
+v 0.00079647 -0.01555589 0.06908458
+v 0.00486415 -0.01750134 0.06959705
+v 0.00716179 -0.01798654 0.06933782
+v 0.00486415 -0.01609216 0.06847947
+v 0.00894034 -0.01561392 0.06615315
+v 0.00486415 -0.01511944 0.06705633
+v 0.00768940 -0.01343167 0.06276154
+v -0.00125439 -0.01204339 0.06276155
+v -0.00057360 -0.01679328 0.06962693
+v 0.00186020 -0.01679328 0.06962993
+v -0.00138629 -0.01572768 0.06891574
+v 0.00486415 -0.01979734 0.07021710
+v 0.00793193 -0.01953501 0.06968072
+v 0.01049338 -0.02029414 0.06940879
+v 0.00903820 -0.01842066 0.06904796
+v 0.01049338 -0.01734347 0.06736860
+v 0.01276124 -0.01789135 0.06682100
+v 0.01049338 -0.01593429 0.06558389
+v 0.01045508 -0.01432313 0.06276154
+v 0.00969346 -0.01406545 0.06276154
+v -0.00357330 -0.01255877 0.06276154
+v -0.00357330 -0.01509623 0.06708098
+v -0.00357330 -0.01749902 0.06958435
+v -0.00357330 -0.01979734 0.07019170
+v -0.00076082 -0.01979734 0.07038518
+v 0.00205167 -0.01979734 0.07039266
+v -0.00357330 -0.01608984 0.06850337
+v -0.00579010 -0.01798654 0.06932512
+v 0.00768089 -0.02247175 0.06963065
+v 0.01049338 -0.02228137 0.06940878
+v 0.01212300 -0.02089774 0.06917346
+v 0.01049338 -0.01888729 0.06879098
+v 0.01338245 -0.01967661 0.06773539
+v 0.01463764 -0.01845780 0.06613520
+v 0.01204216 -0.01549087 0.06354219
+v 0.01250169 -0.01533532 0.06276153
+v -0.00639855 -0.01344559 0.06276154
+v -0.00758567 -0.01564410 0.06610757
+v -0.00570926 -0.01538176 0.06657000
+v -0.00659428 -0.01956983 0.06965755
+v -0.00920253 -0.02035218 0.06939011
+v -0.01081513 -0.02091863 0.06916524
+v -0.01081513 -0.02180778 0.06916524
+v -0.00920253 -0.02227905 0.06939010
+v -0.00639004 -0.02246943 0.06961048
+v -0.00357330 -0.02250657 0.06967398
+v -0.00076082 -0.02253211 0.06969789
+v 0.00205167 -0.02253443 0.06970237
+v 0.00486415 -0.02251121 0.06968594
+v -0.00920253 -0.01738294 0.06732601
+v -0.00766651 -0.01847870 0.06901360
+v 0.00768089 -0.02387859 0.06899864
+v 0.01049338 -0.02369054 0.06898145
+v 0.01331012 -0.02543169 0.06808574
+v 0.01612260 -0.02543169 0.06755234
+v 0.01212300 -0.02181010 0.06917346
+v 0.01821601 -0.02543168 0.06666185
+v 0.01612260 -0.02261567 0.06743357
+v 0.01756076 -0.02117399 0.06625024
+v 0.01565031 -0.01749203 0.06276153
+v 0.01385474 -0.01617804 0.06276153
+v 0.01319098 -0.01575088 0.06276153
+v 0.01616090 -0.01920533 0.06503106
+v 0.01711399 -0.01878048 0.06276152
+v -0.00915147 -0.01437885 0.06276154
+v -0.00920253 -0.01597375 0.06552562
+v -0.01140231 -0.01791457 0.06679859
+v -0.01204905 -0.01971840 0.06771148
+v -0.01621885 -0.02125292 0.06619496
+v -0.01509981 -0.02236263 0.06712429
+v -0.01685708 -0.02543168 0.06662674
+v -0.01483175 -0.02543169 0.06750752
+v -0.00920253 -0.01894533 0.06874840
+v -0.00920253 -0.02368822 0.06898519
+v -0.01201927 -0.02543169 0.06808574
+v -0.00639004 -0.02387394 0.06899938
+v -0.00357330 -0.02391109 0.06900984
+v -0.00076082 -0.02393662 0.06901507
+v 0.00205167 -0.02394127 0.06901731
+v 0.00486415 -0.02391805 0.06901134
+v 0.01049338 -0.02543169 0.06817015
+v 0.01612260 -0.02936668 0.06607988
+v 0.01612260 -0.02795752 0.06676046
+v 0.01805858 -0.02756750 0.06654232
+v 0.02131357 -0.02824770 0.06431386
+v 0.01962013 -0.02543168 0.06552634
+v 0.01784158 -0.02261566 0.06644372
+v 0.02097318 -0.02543168 0.06410395
+v 0.02053918 -0.02372070 0.06371324
+v 0.01974352 -0.02200509 0.06276151
+v 0.01828409 -0.02006197 0.06276152
+v -0.01001096 -0.01475262 0.06276154
+v -0.01072578 -0.01550480 0.06351007
+v -0.01200225 -0.01700916 0.06478529
+v -0.01327872 -0.01851816 0.06606124
+v -0.01578910 -0.01882691 0.06276152
+v -0.01584442 -0.01888263 0.06276152
+v -0.01667838 -0.02068415 0.06429819
+v -0.01796761 -0.02140613 0.06276151
+v -0.01891220 -0.02273405 0.06276151
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diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_20.obj b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0aba708fed0d2eaf4d524170d3e74bd8a19e9af
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_20.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_21.obj b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de909ced626334b967153d40ce7bfaffb5787001
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_21.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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+v 0.04989969 0.05074371 0.03694885
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+
diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_22.obj b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bbc73d6f6f2d886390974e7dfecf1ee716f9a24
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_22.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.03143271 -0.01453618 0.04356311
+v 0.03143271 -0.03215717 0.04356304
+v 0.03143271 -0.01453616 0.03701408
+v -0.03051208 -0.01453618 0.04356311
+v 0.03143271 -0.03335908 0.04304186
+v 0.02509028 -0.04103700 0.04356301
+v 0.03143271 -0.04225570 0.03701397
+v -0.03051208 -0.01453616 0.03701408
+v -0.03051208 -0.03216137 0.04356304
+v 0.03143271 -0.03399365 0.04264633
+v 0.02422926 -0.04223051 0.04356300
+v 0.02140367 -0.04613461 0.04356299
+v 0.01869934 -0.04922343 0.04356298
+v 0.01804448 -0.04991684 0.04356298
+v 0.01641947 -0.05141292 0.04356297
+v 0.01512187 -0.05253078 0.04356297
+v 0.01332708 -0.05375790 0.04356296
+v 0.01153834 -0.05485054 0.04356296
+v 0.01842649 -0.04998826 0.03701395
+v -0.03051208 -0.04227251 0.03701397
+v -0.03051208 -0.03394742 0.04254889
+v -0.02239911 -0.04289029 0.04356300
+v 0.01015586 -0.05543469 0.04356296
+v 0.01023469 -0.05425377 0.03701393
+v 0.01315730 -0.05286695 0.03701394
+v 0.01609810 -0.05127002 0.03701394
+v -0.01068441 -0.05452275 0.04356296
+v -0.01201232 -0.05369486 0.04356296
+v -0.01299461 -0.05304348 0.04356297
+v -0.01377680 -0.05249295 0.04356297
+v -0.01429826 -0.05203909 0.04356297
+v -0.01592328 -0.05061865 0.04356297
+v -0.01669941 -0.04986220 0.04356298
+v -0.01870037 -0.04763909 0.04356299
+v -0.01931885 -0.04688265 0.04356299
+v -0.03051208 -0.03505266 0.04185910
+v -0.01710567 -0.04997986 0.03701395
+v 0.00768195 -0.05619954 0.04356295
+v 0.00495944 -0.05540945 0.03701393
+v 0.00482604 -0.05692657 0.04356295
+v -0.01011444 -0.05483794 0.04356296
+v -0.01434071 -0.05152216 0.03701394
+v 0.00204895 -0.05746449 0.04356295
+v 0.00204895 -0.05584651 0.03701392
+v -0.01129076 -0.05314852 0.03701393
+v -0.00976276 -0.05499763 0.04356296
+v -0.01185467 -0.05285434 0.03701394
+v 0.00131527 -0.05746869 0.04356295
+v -0.00009753 -0.05585071 0.03701392
+v -0.00901695 -0.05417813 0.03701393
+v -0.00879866 -0.05540527 0.04356296
+v -0.00075845 -0.05585071 0.03701392
+v -0.00075845 -0.05746449 0.04356295
+v -0.00821050 -0.05444288 0.03701393
+v -0.00754352 -0.05584233 0.04356295
+v -0.00309290 -0.05553553 0.03701393
+v -0.00150426 -0.05733001 0.04356295
+v -0.00488770 -0.05659037 0.04356295
+v -0.00649453 -0.05617012 0.04356295
+v -0.00369319 -0.05541366 0.03701393
+v -0.00354160 -0.05693918 0.04356295
+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 22
+f 1 22 35
+f 1 35 34
+f 1 34 33
+f 1 33 32
+f 1 32 31
+f 1 31 30
+f 1 30 29
+f 1 29 28
+f 1 28 27
+f 1 27 41
+f 1 41 46
+f 1 46 51
+f 1 51 55
+f 1 55 59
+f 1 59 58
+f 1 58 61
+f 1 61 57
+f 1 57 53
+f 1 53 48
+f 1 48 43
+f 1 43 40
+f 1 40 38
+f 1 38 23
+f 1 23 18
+f 1 18 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 6
+f 1 6 2
+f 2 6 5
+f 3 7 19
+f 3 19 26
+f 3 26 25
+f 3 25 24
+f 3 24 39
+f 3 39 44
+f 3 44 49
+f 3 49 52
+f 3 52 56
+f 3 56 60
+f 3 60 54
+f 3 54 50
+f 3 50 45
+f 3 45 47
+f 3 47 42
+f 3 42 37
+f 3 37 20
+f 3 20 8
+f 4 8 20
+f 4 20 36
+f 4 36 21
+f 4 21 9
+f 5 6 11
+f 5 11 12
+f 5 12 10
+f 7 10 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 9 21 22
+f 18 23 24
+f 18 24 25
+f 18 25 26
+f 18 26 19
+f 20 27 28
+f 20 28 29
+f 20 29 30
+f 20 30 31
+f 20 31 32
+f 20 32 33
+f 20 33 34
+f 20 34 35
+f 20 35 36
+f 20 37 27
+f 21 36 22
+f 22 36 35
+f 23 38 24
+f 24 38 40
+f 24 40 39
+f 27 37 42
+f 27 42 41
+f 39 40 43
+f 39 43 44
+f 41 45 46
+f 41 42 47
+f 41 47 45
+f 43 48 44
+f 44 48 49
+f 45 50 46
+f 46 50 51
+f 48 52 49
+f 48 53 52
+f 50 54 55
+f 50 55 51
+f 52 53 56
+f 53 57 56
+f 54 58 59
+f 54 59 55
+f 54 60 61
+f 54 61 58
+f 56 57 61
+f 56 61 60
+
diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_23.obj b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebbdb3d83d42c56c7462f4cd997b231e9547cd93
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_23.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v -0.04500286 0.02591468 0.03670786
+v -0.04044655 0.02591466 0.04033121
+v -0.04110766 0.02928690 0.04220887
+v -0.04276044 0.03113211 0.04220887
+v -0.04494926 0.03113214 0.03670787
+v 0.04626639 0.02591468 0.03670786
+v -0.04035721 0.02846107 0.04220886
+v -0.03932980 0.02591466 0.04116315
+v 0.04391676 0.03113211 0.04220887
+v 0.04621279 0.03113214 0.03670787
+v 0.04362194 0.03074346 0.04220887
+v 0.04152246 0.02835076 0.04220886
+v 0.04060226 0.02591466 0.04115184
+v -0.03766809 0.02591465 0.04220886
+v 0.03914603 0.02591465 0.04220886
+v 0.03919070 0.02591466 0.04218947
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 6
+f 1 6 13
+f 1 13 16
+f 1 16 15
+f 1 15 14
+f 1 14 8
+f 1 8 2
+f 2 7 3
+f 2 8 7
+f 3 7 14
+f 3 14 15
+f 3 15 12
+f 3 12 11
+f 3 11 9
+f 3 9 4
+f 4 9 10
+f 4 10 5
+f 6 10 9
+f 6 9 11
+f 6 11 12
+f 6 12 13
+f 7 8 14
+f 12 15 16
+f 12 16 13
+
diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_24.obj b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93f126cb5b8a6cef8226db492db797f3010c31ed
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_24.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.02129459 -0.02107314 0.04356496
+v -0.02129459 -0.02107318 0.05521255
+v -0.02129459 -0.00831557 0.04356501
+v -0.00163841 -0.02107314 0.04356496
+v -0.01874521 -0.02107320 0.06060412
+v -0.02129459 -0.00831562 0.05771200
+v -0.00163841 -0.00831557 0.04356501
+v -0.00163841 -0.02107321 0.06276150
+v -0.01770622 -0.02107321 0.06276150
+v -0.01695199 -0.02011040 0.06276151
+v -0.01584373 -0.01888035 0.06276151
+v -0.01578986 -0.01882415 0.06276151
+v -0.01572636 -0.01876796 0.06276151
+v -0.01432180 -0.01753041 0.06276152
+v -0.01283066 -0.01642149 0.06276152
+v -0.01252858 -0.01621295 0.06276152
+v -0.01117404 -0.01536377 0.06276152
+v -0.01001576 -0.01475062 0.06276153
+v -0.00915378 -0.01437848 0.06276153
+v -0.00640238 -0.01344564 0.06276153
+v -0.00357786 -0.01255776 0.06276153
+v -0.00163841 -0.01214316 0.06276154
+v -0.00616379 -0.00831563 0.05954051
+v -0.00163841 -0.00831563 0.05964199
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 3 6 23
+f 3 23 24
+f 3 24 7
+f 4 7 24
+f 4 24 22
+f 4 22 8
+f 5 9 6
+f 6 9 10
+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 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 6 20 21
+f 6 21 22
+f 6 22 23
+f 8 22 21
+f 8 21 20
+f 8 20 19
+f 8 19 18
+f 8 18 17
+f 8 17 16
+f 8 16 15
+f 8 15 14
+f 8 14 13
+f 8 13 12
+f 8 12 11
+f 8 11 10
+f 8 10 9
+f 22 24 23
+
diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_25.obj b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2057707edf09e9f45f8b91ccec7a0370eba13190
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_25.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v -0.02890544 -0.02107314 0.04356446
+v -0.02890544 -0.00831557 0.04356451
+v -0.02129459 -0.02107314 0.04356446
+v -0.02890544 -0.02107316 0.05019339
+v -0.02129459 -0.00831557 0.04356451
+v -0.02890544 -0.00831562 0.05771749
+v -0.02129459 -0.02107318 0.05521219
+v -0.02890544 -0.01681357 0.05273746
+v -0.02129459 -0.00831562 0.05771195
+v -0.02890544 -0.00915730 0.05723390
+v -0.02442163 -0.00831562 0.05771472
+v -0.02890544 -0.01134517 0.05595910
+v -0.02890544 -0.01300854 0.05498775
+v -0.02890544 -0.01441717 0.05416052
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 14
+f 1 14 13
+f 1 13 12
+f 1 12 10
+f 1 10 6
+f 1 6 2
+f 2 6 11
+f 2 11 9
+f 2 9 5
+f 3 5 9
+f 3 9 7
+f 4 7 8
+f 6 10 7
+f 6 7 11
+f 7 9 11
+f 7 10 12
+f 7 12 13
+f 7 13 14
+f 7 14 8
+
diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_26.obj b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f4753d89348f70ba5a782bc0a99d5e09f2964cc
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_26.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.01562566 -0.00831562 0.05778719
+v 0.01045879 -0.01432231 0.06276153
+v 0.01250217 -0.01533487 0.06276152
+v 0.01318991 -0.01574852 0.06276152
+v 0.01385782 -0.01617616 0.06276152
+v 0.01565212 -0.01749051 0.06276152
+v 0.01711577 -0.01877924 0.06276151
+v 0.01828405 -0.02006097 0.06276151
+v 0.01838545 -0.02021944 0.06276151
+v 0.02088072 -0.02021942 0.05778715
+v -0.00163841 -0.00831562 0.05778719
+v 0.00792164 -0.00831563 0.05954107
+v 0.00969390 -0.01406479 0.06276153
+v -0.00163841 -0.02021944 0.06276151
+v -0.00163841 -0.02021942 0.05778715
+v -0.00163841 -0.00831563 0.05964333
+v 0.00205379 -0.00831563 0.05970468
+v 0.00214858 -0.01187653 0.06276154
+v 0.00379078 -0.01224823 0.06276154
+v 0.00769460 -0.01343092 0.06276153
+v -0.00163841 -0.01214220 0.06276154
+v -0.00125706 -0.01204315 0.06276154
+v -0.00058475 -0.01195110 0.06276154
+v -0.00076110 -0.00831563 0.05970030
+v 0.00191713 -0.00831563 0.05970468
+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 10
+f 1 10 15
+f 1 15 11
+f 1 11 16
+f 1 16 24
+f 1 24 25
+f 1 25 17
+f 1 17 12
+f 1 12 2
+f 2 13 20
+f 2 20 19
+f 2 19 18
+f 2 18 23
+f 2 23 22
+f 2 22 21
+f 2 21 14
+f 2 14 9
+f 2 9 8
+f 2 8 7
+f 2 7 6
+f 2 6 5
+f 2 5 4
+f 2 4 3
+f 2 12 13
+f 9 14 15
+f 9 15 10
+f 11 15 14
+f 11 14 21
+f 11 21 16
+f 12 17 18
+f 12 18 19
+f 12 19 20
+f 12 20 13
+f 16 21 22
+f 16 22 23
+f 16 23 24
+f 17 25 18
+f 18 25 24
+f 18 24 23
+
diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_27.obj b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c1df27d05e7961e5a7fcb26c19d667d7fe807f5
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_27.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
+v -0.05422878 0.06043708 0.03079447
+v -0.05711444 0.05964541 0.03079447
+v -0.05626503 0.05792446 0.03223116
+v -0.05422878 0.05946124 0.03141674
+v 0.05271483 0.05805359 0.03231625
+v 0.05393658 0.06043497 0.03079447
+v -0.05764967 0.05899768 0.03079447
+v -0.05813837 0.05743972 0.03185491
+v -0.05704462 0.05264099 0.03529267
+v -0.05684681 0.05037605 0.03670795
+v -0.05422878 0.05109999 0.03670795
+v -0.05422878 0.05298603 0.03551668
+v -0.05422878 0.05627127 0.03344153
+v -0.05422878 0.05805359 0.03231394
+v 0.05271483 0.05627127 0.03344848
+v 0.05553067 0.06043285 0.03079447
+v -0.05142458 0.05627127 0.03344674
+v -0.05876670 0.05644062 0.03079446
+v -0.05865035 0.05556215 0.03244069
+v -0.05853399 0.05221341 0.03501945
+v -0.05687009 0.05035912 0.03670794
+v -0.05142458 0.05112115 0.03670795
+v -0.05142458 0.05299449 0.03552189
+v 0.05271483 0.05299661 0.03552478
+v 0.05553067 0.05804723 0.03230873
+v 0.05553067 0.05945489 0.03141558
+v 0.05747383 0.05791600 0.03222422
+v 0.05655461 0.06012591 0.03079447
+v -0.05876670 0.05355334 0.03079445
+v -0.05883651 0.05063642 0.03349882
+v -0.05878998 0.04782746 0.03639883
+v -0.05874343 0.05327180 0.03343342
+v -0.05867362 0.05063641 0.03541943
+v -0.05844090 0.04812380 0.03670794
+v -0.05875507 0.04765177 0.03670794
+v 0.04989899 0.05112327 0.03670795
+v 0.05037606 0.05112327 0.03670795
+v 0.05271483 0.05112115 0.03670795
+v 0.05553067 0.05109152 0.03670795
+v 0.05553067 0.05297968 0.03551436
+v 0.05591465 0.05098145 0.03670795
+v 0.05806725 0.05031255 0.03670794
+v 0.05833487 0.05257961 0.03525735
+v 0.05978933 0.05214355 0.03497951
+v 0.05836977 0.05952052 0.03079447
+v -0.05878998 0.04498464 0.03628942
+v -0.05874343 0.05324853 0.03079445
+v -0.05877834 0.04498887 0.03670793
+v 0.05813706 0.05026386 0.03670794
+v 0.05999877 0.04757768 0.03670793
+v 0.05991732 0.05063641 0.03533955
+v 0.05991732 0.05546266 0.03239034
+v 0.05964970 0.05821236 0.03079446
+v 0.05934717 0.05734024 0.03176808
+v 0.05823015 0.05019189 0.03670794
+v 0.05925409 0.04929650 0.03670794
+v 0.05867230 0.05930249 0.03079447
+v -0.05874343 0.04377808 0.03670792
+v -0.05845254 0.04922877 0.03207542
+v -0.05861544 0.05063642 0.03175128
+v -0.05862707 0.04591178 0.03464434
+v -0.05868525 0.04810265 0.03361747
+v -0.05768458 0.05052425 0.03079444
+v 0.06002205 0.04733848 0.03670793
+v 0.05998714 0.05323158 0.03340274
+v 0.06002205 0.05630091 0.03079446
+v -0.05789402 0.04229211 0.03670792
+v -0.05286741 0.03881427 0.03079439
+v 0.06002205 0.04468829 0.03670792
+v 0.06003368 0.04778301 0.03635889
+v 0.06001041 0.05336284 0.03079445
+v -0.05696317 0.04124430 0.03670791
+v -0.04810841 0.03881425 0.03670790
+v -0.05422878 0.04046957 0.03670791
+v 0.05412275 0.03881427 0.03079439
+v 0.06002205 0.04502485 0.03631836
+v 0.05998714 0.04392413 0.03670792
+v 0.05999877 0.04782111 0.03410197
+v 0.05992896 0.05119737 0.03168066
+v 0.05967297 0.05192131 0.03079444
+v 0.04938703 0.03881425 0.03670790
+v 0.05969624 0.04931979 0.03216572
+v 0.05988242 0.04597740 0.03468833
+v 0.05962643 0.04278320 0.03670792
+v 0.05882357 0.04169941 0.03670791
+v 0.05824178 0.04131627 0.03670791
+v 0.05717130 0.04091620 0.03670791
+v 0.05015498 0.03893067 0.03670790
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 16
+f 1 16 28
+f 1 28 45
+f 1 45 57
+f 1 57 53
+f 1 53 66
+f 1 66 71
+f 1 71 80
+f 1 80 75
+f 1 75 68
+f 1 68 63
+f 1 63 47
+f 1 47 29
+f 1 29 18
+f 1 18 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 4
+f 4 14 5
+f 5 15 16
+f 5 16 6
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diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_28.obj b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa2cfa10d4d882be8b48cdf74cdb7c700a6d9684
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_28.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.02537286 -0.00430940 0.05082616
+v 0.02436954 -0.00430940 0.05283611
+v 0.05553003 -0.00551565 0.05283611
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+
diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_29.obj b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f18a5417a4004ab68b081c908e2fa87aa449451
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_29.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v -0.03051430 -0.01453768 0.03708701
+v -0.03051430 -0.03008944 0.03708695
+v -0.03051430 -0.01453765 0.03062725
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+v -0.04876656 -0.01453766 0.03397823
+v -0.05064189 -0.01453766 0.03255601
+f 1 2 5
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+
diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_3.obj b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0431fac82aaf0fd4ddb6e94c77b2a9d9d3314195
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_3.obj
@@ -0,0 +1,1288 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_30.obj b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e3903aaaa7a9acd10ee9d01ed6c09688d012085
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_30.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_31.obj b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c87dc3ba63f656146533eb3b568d4d885213bc9
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_31.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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+f 60 72 73
+f 60 73 61
+f 61 73 64
+f 61 63 62
+f 64 73 74
+f 64 74 65
+f 65 74 75
+f 65 75 66
+f 66 75 71
+f 66 71 67
+f 67 71 70
+f 67 70 68
+f 68 70 69
+f 72 74 73
+
diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_32.obj b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db6ab4b61ac230e4838a0abc41251d55af82ad3b
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_32.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v -0.00356925 0.03324031 0.04784880
+v -0.00638444 0.03323876 0.04784880
+v -0.00356925 0.03029979 0.04963198
+v -0.00075406 0.03029979 0.04963148
+v -0.00075406 0.03323876 0.04784880
+v -0.00988598 0.03323566 0.04784880
+v -0.00513971 0.02906810 0.05037063
+v -0.00356925 0.02906965 0.05037063
+v -0.00638444 0.03029824 0.04963123
+v -0.00075406 0.02906810 0.05037063
+v 0.05271131 0.02902937 0.05037063
+v 0.04989612 0.03027965 0.04961741
+v 0.03300497 0.03321397 0.04784880
+v -0.01201482 0.03323257 0.04784880
+v -0.02046040 0.03029204 0.04962654
+v -0.00796653 0.02906500 0.05037063
+v 0.05552650 0.02901233 0.05037063
+v 0.05271131 0.03027810 0.04961642
+v 0.05271131 0.03319383 0.04784880
+v -0.02327559 0.03321397 0.04784880
+v -0.02046040 0.02904951 0.05037063
+v -0.05141587 0.03025951 0.04961124
+v -0.05141587 0.02900303 0.05037063
+v 0.05638735 0.02881712 0.05037063
+v 0.05552650 0.03317989 0.04784880
+v 0.05477035 0.03318609 0.04784880
+v -0.05423106 0.03314580 0.04784880
+v -0.05423106 0.03025486 0.04960679
+v -0.05423106 0.02899064 0.05037063
+v 0.05781821 0.03000697 0.04945324
+v 0.05853946 0.02788446 0.05037062
+v 0.05692246 0.03271511 0.04784880
+v -0.05704625 0.03233244 0.04784880
+v -0.05704625 0.02990162 0.04938930
+v -0.05704625 0.02809671 0.05037062
+v 0.05969113 0.02943374 0.04907897
+v 0.05846966 0.03214652 0.04784880
+v 0.05926070 0.02691926 0.05037062
+v -0.05866325 0.03048880 0.04784879
+v -0.05846548 0.02953600 0.04916612
+v -0.05874468 0.02567054 0.05037061
+v 0.05999359 0.02548773 0.05037061
+v 0.05992378 0.02755602 0.04953667
+v 0.05988888 0.03038190 0.04784879
+v 0.05903967 0.03159188 0.04784880
+v -0.05882610 0.02809672 0.04784878
+v -0.05862835 0.02809672 0.04949346
+v -0.05876794 0.02519027 0.05037061
+v 0.06000522 0.02530801 0.05037061
+v 0.05999359 0.02871643 0.04784879
+v -0.05874468 0.02546605 0.04784877
+v -0.05876794 0.02227298 0.05037060
+v 0.06001685 0.02239228 0.05037060
+v 0.05999359 0.02843756 0.04784878
+v -0.05873304 0.02533591 0.04784877
+v -0.05865161 0.02309721 0.04878343
+v -0.05777914 0.01969809 0.05037059
+v -0.05826772 0.02121794 0.04930039
+v 0.05998195 0.02543506 0.04784877
+v 0.05976093 0.02044019 0.05037060
+v 0.05992378 0.02317932 0.04882516
+v -0.05716258 0.02312044 0.04784876
+v -0.05711605 0.01881965 0.05037059
+v -0.05639480 0.02072372 0.04895254
+v 0.05910947 0.02398649 0.04784877
+v 0.05880702 0.01927359 0.05037059
+v 0.05950500 0.02130160 0.04937371
+v -0.05485924 0.02242637 0.04784876
+v -0.05423106 0.01797064 0.05037059
+v -0.05423106 0.02223736 0.04784876
+v -0.02904557 0.01741446 0.04784874
+v 0.05842313 0.02321495 0.04784877
+v 0.05838823 0.01891725 0.05037059
+v 0.05762044 0.02071907 0.04895007
+v -0.02889434 0.01741445 0.05037058
+v 0.03037591 0.01741446 0.04784874
+v 0.05574753 0.02227454 0.04784876
+v 0.05653858 0.01826191 0.05037059
+v 0.05552650 0.01795670 0.05037059
+v 0.03014325 0.01741445 0.05037058
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 19
+f 1 19 26
+f 1 26 25
+f 1 25 32
+f 1 32 37
+f 1 37 45
+f 1 45 44
+f 1 44 50
+f 1 50 54
+f 1 54 59
+f 1 59 65
+f 1 65 72
+f 1 72 77
+f 1 77 76
+f 1 76 71
+f 1 71 70
+f 1 70 68
+f 1 68 62
+f 1 62 55
+f 1 55 51
+f 1 51 46
+f 1 46 39
+f 1 39 33
+f 1 33 27
+f 1 27 20
+f 1 20 14
+f 1 14 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 4
+f 3 6 9
+f 3 9 7
+f 4 8 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 6 14 15
+f 6 15 9
+f 7 9 15
+f 7 15 16
+f 7 16 21
+f 7 21 23
+f 7 23 29
+f 7 29 35
+f 7 35 41
+f 7 41 48
+f 7 48 52
+f 7 52 57
+f 7 57 63
+f 7 63 69
+f 7 69 75
+f 7 75 80
+f 7 80 79
+f 7 79 78
+f 7 78 73
+f 7 73 66
+f 7 66 60
+f 7 60 53
+f 7 53 49
+f 7 49 42
+f 7 42 38
+f 7 38 31
+f 7 31 24
+f 7 24 17
+f 7 17 11
+f 7 11 10
+f 7 10 8
+f 11 17 18
+f 11 18 12
+f 12 18 19
+f 12 19 13
+f 14 20 15
+f 15 21 16
+f 15 20 22
+f 15 22 23
+f 15 23 21
+f 17 24 25
+f 17 25 26
+f 17 26 18
+f 18 26 19
+f 20 27 22
+f 22 27 28
+f 22 28 23
+f 23 28 29
+f 24 30 25
+f 24 31 30
+f 25 30 32
+f 27 33 34
+f 27 34 28
+f 28 34 29
+f 29 34 35
+f 30 31 36
+f 30 36 37
+f 30 37 32
+f 31 38 36
+f 33 39 40
+f 33 40 34
+f 34 40 35
+f 35 40 41
+f 36 38 42
+f 36 42 43
+f 36 43 44
+f 36 44 45
+f 36 45 37
+f 39 46 41
+f 39 41 47
+f 39 47 40
+f 40 47 41
+f 41 46 48
+f 42 49 44
+f 42 44 43
+f 44 49 50
+f 46 51 52
+f 46 52 48
+f 49 53 50
+f 50 53 54
+f 51 55 56
+f 51 56 52
+f 52 56 58
+f 52 58 57
+f 53 59 54
+f 53 60 61
+f 53 61 59
+f 55 62 58
+f 55 58 56
+f 57 58 63
+f 58 62 64
+f 58 64 63
+f 59 61 65
+f 60 66 67
+f 60 67 61
+f 61 67 65
+f 62 68 64
+f 63 64 69
+f 64 68 70
+f 64 70 71
+f 64 71 69
+f 65 67 72
+f 66 73 67
+f 67 73 74
+f 67 74 72
+f 69 71 75
+f 71 76 80
+f 71 80 75
+f 72 74 77
+f 73 78 74
+f 74 78 79
+f 74 79 76
+f 74 76 77
+f 76 79 80
+
diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_33.obj b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5930d7d1cbb66551dea8e72dc68f693150c2ab17
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_33.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.05999907 0.01074293 0.05683078
+v 0.06005725 0.00563570 0.06276160
+v 0.06005725 0.00571595 0.06210524
+v 0.06006888 0.00262604 0.06209761
+v 0.05999907 0.00262605 0.05971265
+v 0.05997579 0.01074293 0.05658473
+v 0.05997579 0.01074292 0.05900642
+v 0.06005725 0.00273012 0.06276159
+v 0.05996415 0.01074292 0.05918316
+v 0.05994088 0.01074292 0.05930653
+v 0.05977796 0.00984907 0.06056519
+v 0.05966160 0.00706982 0.06276161
+v 0.06002234 0.00262604 0.06276159
+v 0.05861428 0.00262606 0.05835210
+v 0.05885865 0.01074294 0.05568093
+v 0.05833500 0.01074292 0.06055341
+v 0.05871902 0.00806377 0.06276161
+v -0.05877804 0.00262604 0.06276159
+v 0.05848628 0.00262606 0.05829943
+v 0.05838155 0.01000879 0.05568093
+v 0.05859101 0.01026701 0.05568093
+v 0.05876556 0.01056893 0.05568093
+v -0.05761435 0.01074294 0.05568093
+v 0.05553052 0.01074292 0.06108502
+v 0.05553052 0.00882413 0.06276161
+v 0.05847464 0.00815990 0.06276161
+v -0.05880131 0.00267053 0.06276159
+v -0.05880131 0.00262604 0.06251762
+v 0.05654292 0.00262606 0.05780733
+v 0.05553052 0.00262606 0.05769296
+v 0.05553052 0.00903073 0.05568092
+v -0.05710234 0.00994841 0.05568093
+v -0.05733507 0.00262606 0.05830636
+v -0.05871985 0.01074293 0.05654730
+v 0.05271441 0.00883128 0.06276161
+v 0.05522797 0.00882492 0.06276161
+v -0.05422804 0.01074292 0.06108502
+v -0.05880131 0.00562855 0.06276160
+v -0.05881295 0.00573819 0.06212742
+v -0.05880131 0.00262604 0.06213434
+v 0.01722208 0.00262607 0.05568090
+v -0.05422804 0.00262606 0.05771098
+v -0.05721870 0.00262606 0.05826408
+v -0.05422804 0.00904583 0.05568092
+v -0.05870821 0.00262605 0.05954146
+v -0.05873149 0.00262605 0.05965304
+v -0.05877804 0.00262605 0.06121529
+v -0.05871985 0.01074292 0.05902374
+v 0.05241185 0.00883128 0.06276161
+v -0.05642740 0.01074292 0.06073015
+v -0.05450732 0.00877805 0.06276161
+v -0.05422804 0.00882174 0.06276161
+v -0.05172612 0.00882889 0.06276161
+v -0.05142356 0.00882969 0.06276161
+v -0.05852203 0.00636746 0.06276160
+v -0.05851039 0.00990549 0.06059638
+v -0.05867331 0.01074292 0.05938693
+v -0.01593124 0.00262607 0.05568090
+v -0.05704415 0.01074292 0.06060817
+v -0.05717215 0.00817421 0.06276161
+v -0.05774236 0.00761883 0.06276161
+v -0.05784709 0.01074292 0.06030528
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 15
+f 1 15 23
+f 1 23 34
+f 1 34 48
+f 1 48 57
+f 1 57 62
+f 1 62 59
+f 1 59 50
+f 1 50 37
+f 1 37 24
+f 1 24 16
+f 1 16 10
+f 1 10 9
+f 1 9 7
+f 1 7 2
+f 2 8 4
+f 2 4 3
+f 2 7 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 17
+f 2 17 26
+f 2 26 25
+f 2 25 36
+f 2 36 35
+f 2 35 49
+f 2 49 54
+f 2 54 53
+f 2 53 52
+f 2 52 51
+f 2 51 60
+f 2 60 61
+f 2 61 55
+f 2 55 38
+f 2 38 27
+f 2 27 18
+f 2 18 13
+f 2 13 8
+f 4 8 13
+f 4 13 18
+f 4 18 28
+f 4 28 40
+f 4 40 47
+f 4 47 46
+f 4 46 45
+f 4 45 33
+f 4 33 43
+f 4 43 42
+f 4 42 58
+f 4 58 41
+f 4 41 30
+f 4 30 29
+f 4 29 19
+f 4 19 14
+f 4 14 5
+f 5 14 6
+f 6 14 15
+f 10 16 11
+f 11 16 17
+f 11 17 12
+f 14 19 20
+f 14 20 21
+f 14 21 22
+f 14 22 15
+f 15 22 21
+f 15 21 20
+f 15 20 31
+f 15 31 41
+f 15 41 58
+f 15 58 44
+f 15 44 32
+f 15 32 23
+f 16 24 25
+f 16 25 26
+f 16 26 17
+f 18 27 28
+f 19 29 20
+f 20 29 30
+f 20 30 31
+f 23 32 33
+f 23 33 34
+f 24 35 36
+f 24 36 25
+f 24 37 49
+f 24 49 35
+f 27 38 39
+f 27 39 28
+f 28 39 40
+f 30 41 31
+f 32 42 43
+f 32 43 33
+f 32 44 42
+f 33 45 34
+f 34 46 47
+f 34 47 40
+f 34 40 39
+f 34 39 48
+f 34 45 46
+f 37 50 51
+f 37 51 52
+f 37 52 53
+f 37 53 54
+f 37 54 49
+f 38 55 56
+f 38 56 57
+f 38 57 48
+f 38 48 39
+f 42 44 58
+f 50 59 60
+f 50 60 51
+f 55 61 56
+f 56 61 60
+f 56 60 62
+f 56 62 57
+f 59 62 60
+
diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_34.obj b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd1959092a75ee246c78c1d40d5c296381548988
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_34.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.05413289 0.03881215 0.03079439
+v 0.04939276 0.03881213 0.03670790
+v 0.05415386 0.03502599 0.03079438
+v -0.05286596 0.03881215 0.03079439
+v 0.04625715 0.02591468 0.03670786
+v 0.04708562 0.02591468 0.03611801
+v 0.04893134 0.02591468 0.03477566
+v 0.05002199 0.02591469 0.03396181
+v 0.05190965 0.02591469 0.03253958
+v 0.05419581 0.02591470 0.03079435
+v -0.04810486 0.03881213 0.03670790
+v -0.05291840 0.03091663 0.03079436
+v -0.04500072 0.02591468 0.03670786
+v -0.05293937 0.02591470 0.03079435
+v -0.05021275 0.02591469 0.03287068
+v -0.04874457 0.02591469 0.03397280
+v -0.04842996 0.02591468 0.03420839
+v -0.04733932 0.02591468 0.03502457
+f 1 2 3
+f 1 3 10
+f 1 10 14
+f 1 14 12
+f 1 12 4
+f 1 4 11
+f 1 11 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 2 11 13
+f 2 13 5
+f 4 12 11
+f 5 13 18
+f 5 18 17
+f 5 17 16
+f 5 16 15
+f 5 15 14
+f 5 14 10
+f 5 10 9
+f 5 9 8
+f 5 8 7
+f 5 7 6
+f 11 12 14
+f 11 14 15
+f 11 15 16
+f 11 16 17
+f 11 17 18
+f 11 18 13
+
diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_35.obj b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5ab3b5b29b603c0f0417a788f19020bd8e28735
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_35.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.02147464 0.01074274 0.05283645
+v -0.02091595 0.00861122 0.05283644
+v -0.05423223 0.01074273 0.05465536
+v 0.02271902 0.01074274 0.05283645
+v -0.02072212 0.00861121 0.05568091
+v -0.05423223 0.00904607 0.05568091
+v -0.05423223 0.01011193 0.05503657
+v 0.02219454 0.00861122 0.05283644
+v -0.05523559 0.01074273 0.05481714
+v 0.05552222 0.01074273 0.05464812
+v 0.02221734 0.00865796 0.05283644
+v 0.02382500 0.00861121 0.05568091
+v -0.05710550 0.00994896 0.05568092
+v 0.05552222 0.01010400 0.05503156
+v 0.05552222 0.00903125 0.05568091
+v -0.05704849 0.01074273 0.05517831
+v 0.05833848 0.01074273 0.05521423
+v -0.05750456 0.01056620 0.05568092
+v -0.05725372 0.01074273 0.05526240
+v 0.05838408 0.01000948 0.05568092
+v 0.05886296 0.01074273 0.05568092
+v 0.05858932 0.01026697 0.05568092
+v -0.05761858 0.01074273 0.05568092
+f 1 2 3
+f 1 3 9
+f 1 9 16
+f 1 16 19
+f 1 19 23
+f 1 23 21
+f 1 21 17
+f 1 17 10
+f 1 10 4
+f 1 4 11
+f 1 11 8
+f 1 8 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 2 8 12
+f 2 12 5
+f 3 7 9
+f 4 10 11
+f 5 12 15
+f 5 15 20
+f 5 20 22
+f 5 22 21
+f 5 21 23
+f 5 23 18
+f 5 18 13
+f 5 13 6
+f 6 13 9
+f 6 9 7
+f 8 11 10
+f 8 10 14
+f 8 14 15
+f 8 15 12
+f 9 13 16
+f 10 17 14
+f 13 18 19
+f 13 19 16
+f 14 17 15
+f 15 17 20
+f 17 21 22
+f 17 22 20
+f 18 23 19
+
diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_36.obj b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e346efafb0d4c0919110d67694efc19773410ee
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_36.obj
@@ -0,0 +1,25 @@
+# https://github.com/mikedh/trimesh
+v 0.02383153 0.00861121 0.05568091
+v 0.01722518 0.00262607 0.05568089
+v 0.02022608 0.00262608 0.05283642
+v 0.02219747 0.00861122 0.05283644
+v -0.02072191 0.00861121 0.05568091
+v -0.01592924 0.00262607 0.05568089
+v -0.01893014 0.00262608 0.05283642
+v -0.02091467 0.00861122 0.05283644
+v -0.02085772 0.00759006 0.05283644
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 9
+f 3 9 8
+f 3 8 4
+f 5 8 9
+f 5 9 7
+f 5 7 6
+
diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_37.obj b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0df545a92cf96222e7df8f793da0882eeae9061
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_37.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.05435324 -0.02790782 0.03062657
+v 0.05831056 -0.03227952 0.03713846
+v 0.05971649 -0.03391650 0.03713846
+v 0.05996294 -0.03436229 0.03713845
+v 0.05989853 -0.03766740 0.03468118
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+f 1 5 6
+f 1 6 7
+f 1 7 16
+f 1 16 22
+f 1 22 33
+f 1 33 46
+f 1 46 34
+f 1 34 23
+f 1 23 17
+f 1 17 8
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+f 1 10 9
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+f 29 43 44
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+f 38 48 40
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+f 52 56 54
+f 54 56 57
+f 55 57 56
+
diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_38.obj b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b2812e4d97a76f0f5846267460a93badbbfb2ad
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_38.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.05440094 -0.01453613 0.03062662
+v 0.05331728 -0.01453614 0.03145782
+v 0.04741335 -0.02790654 0.03678918
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+v 0.05166031 -0.01453614 0.03272438
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+v 0.04841831 -0.01453615 0.03516125
+v 0.04708510 -0.01453615 0.03613523
+v 0.04684004 -0.01453615 0.03631307
+v 0.04570242 -0.01453616 0.03713853
+v 0.03143271 -0.02790654 0.03713848
+f 1 2 3
+f 1 3 4
+f 1 4 7
+f 1 7 12
+f 1 12 5
+f 1 5 13
+f 1 13 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 10
+f 1 10 9
+f 1 9 8
+f 1 8 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 18
+f 3 18 12
+f 3 12 7
+f 5 12 18
+f 5 18 13
+f 10 14 11
+f 11 14 15
+f 11 15 16
+f 11 16 17
+f 11 17 13
+f 11 13 18
+
diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_39.obj b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51b3fa21e3b3201124c94e5b1c0117955ba5dc23
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_39.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.03143271 -0.04206296 0.03713906
+v 0.04589696 -0.04214675 0.03713906
+v 0.03143271 -0.03399278 0.04264677
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+v 0.04589696 -0.03191712 0.04356304
+v 0.03143271 -0.03215225 0.04356304
+v 0.03690070 -0.01453618 0.04356311
+f 1 2 3
+f 1 3 11
+f 1 11 19
+f 1 19 15
+f 1 15 4
+f 1 4 16
+f 1 16 6
+f 1 6 2
+f 2 5 3
+f 2 6 17
+f 2 17 18
+f 2 18 10
+f 2 10 9
+f 2 9 8
+f 2 8 7
+f 2 7 14
+f 2 14 13
+f 2 13 12
+f 2 12 5
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 5 12
+f 3 12 13
+f 3 13 14
+f 3 14 7
+f 4 15 20
+f 4 20 16
+f 6 16 17
+f 10 18 11
+f 11 18 19
+f 15 19 18
+f 15 18 17
+f 15 17 20
+f 16 20 17
+
diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_4.obj b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50417fc1f491329ba11b55301d5bbdd5a892df89
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_4.obj
@@ -0,0 +1,661 @@
+# https://github.com/mikedh/trimesh
+v 0.06155701 0.01119344 -0.07178209
+v 0.06154509 -0.01453585 -0.04616540
+v 0.06154509 -0.01453575 -0.07462426
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+v 0.06154509 0.01119311 0.01926596
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+v 0.06133044 0.02591508 -0.07462411
+v 0.06153316 0.02591474 0.01926602
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diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_40.obj b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4557d7445045967ad6520f9df24dc00ca8d48a07
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_40.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_5.obj b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..337f3e95ddf63c882ba8359277fbb2a86be6bf37
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_5.obj
@@ -0,0 +1,1126 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_6.obj b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..010e6ff411506a0ec26790939014b333d4fc83cf
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_6.obj
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diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_7.obj b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..937ccce25a23e8819044b4f392e810734d787058
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_7.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.03664826 0.01074298 0.04356320
+v 0.03017513 -0.00831560 0.05082557
+v 0.03666944 0.00837372 0.04356319
+v -0.03536793 0.01074298 0.04356320
+v 0.02272080 0.01074295 0.05283617
+v 0.03651414 -0.00831557 0.04356313
+v 0.03657767 -0.00570939 0.04356314
+v 0.03660591 -0.00430835 0.04356314
+v 0.03663414 -0.00289053 0.04356315
+v 0.03665532 -0.00081976 0.04356316
+v 0.03666238 -0.00007353 0.04356316
+v 0.03669062 0.00555672 0.04356318
+v 0.02437261 -0.00430838 0.05283611
+v -0.02889480 -0.00831560 0.05082557
+v -0.03540322 0.00837372 0.04356319
+v -0.02147576 0.01074295 0.05283617
+v -0.03524793 -0.00831557 0.04356313
+v -0.02302875 -0.00430838 0.05283611
+v -0.03542440 0.00555672 0.04356318
+v -0.03541734 0.00274159 0.04356317
+v -0.03540322 0.00062978 0.04356316
+v -0.03536793 -0.00289053 0.04356315
+v -0.03533969 -0.00430835 0.04356314
+v -0.03531146 -0.00570939 0.04356314
+f 1 2 3
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+f 1 9 8
+f 1 8 7
+f 1 7 6
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+f 1 17 24
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+f 14 22 23
+f 14 23 24
+f 14 24 17
+
diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_8.obj b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdfbf3250ba4492eacd78eec03fdcd0a68bb8183
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_8.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.03658606 0.02171830 0.04356366
+v 0.03573200 0.02171828 0.04784875
+v 0.03664959 0.01074405 0.04356362
+v -0.03545850 0.02171830 0.04356366
+v 0.02963359 0.01074403 0.04784871
+v 0.03019826 0.01074404 0.04752738
+v 0.03166639 0.01074404 0.04667497
+v 0.03194873 0.01074404 0.04651054
+v 0.03313453 0.01074404 0.04579111
+v 0.03335334 0.01074404 0.04565435
+v 0.03525204 0.01074405 0.04445965
+v 0.03561201 0.01074405 0.04423187
+v 0.03624020 0.01074405 0.04382873
+v -0.03448445 0.02171828 0.04784875
+v -0.03536674 0.01074405 0.04356362
+v -0.02835074 0.01074403 0.04784871
+v -0.03455503 0.01074405 0.04408881
+v -0.03432916 0.01074405 0.04423480
+v -0.03207049 0.01074404 0.04565771
+v -0.03066588 0.01074404 0.04651263
+v -0.02919069 0.01074404 0.04736503
+f 1 2 3
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+f 1 4 14
+f 1 14 2
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+
diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_9.obj b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ba8e1d488817b21ba45ec7cb0a48cddc2171873
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/mesh/milk_carton_009_collision_9.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.05885414 0.03113211 0.04356314
+v 0.05833900 0.03034255 0.04356314
+v 0.05833900 0.03113211 0.04303588
+v -0.05809472 0.03113211 0.04356314
+v 0.05552288 0.02936606 0.04356314
+v 0.05683936 0.03113211 0.04273546
+v 0.03914134 0.02591465 0.04220886
+v -0.05800314 0.03113211 0.04344223
+v -0.05767116 0.03070056 0.04356314
+v 0.03708077 0.02591465 0.04356313
+v 0.05552288 0.03113211 0.04248118
+v 0.04152245 0.02835076 0.04220886
+v -0.03767217 0.02591465 0.04220886
+v -0.05788866 0.03113211 0.04338270
+v -0.05705299 0.03024398 0.04356314
+v -0.03518804 0.02591465 0.04356313
+v 0.04361736 0.03074346 0.04220887
+v 0.04367460 0.03081700 0.04220887
+v 0.04391500 0.03113211 0.04220887
+v -0.03735164 0.02591465 0.04244153
+v -0.05423688 0.02935227 0.04356314
+v -0.05705299 0.03113211 0.04297954
+v -0.05676680 0.03113211 0.04292133
+v -0.05423688 0.03113211 0.04247892
+v -0.04035092 0.02846107 0.04220886
+v -0.03580621 0.02591465 0.04355531
+v -0.04275492 0.03113211 0.04220887
+v -0.04110646 0.02928690 0.04220887
+f 1 2 3
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+f 14 22 15
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+f 20 26 21
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+f 24 28 25
+
diff --git a/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/milk_carton_009.xml b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/milk_carton_009.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9f450041726975decad0e2bf98f6a3cabbb46007
--- /dev/null
+++ b/dataset/food/beverages/ed7b53a123865928a8c9fc6b5f97e59a/mjcf/milk_carton_009.xml
@@ -0,0 +1,96 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="milk_carton_009">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/milk_carton_009.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/milk_carton_009_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/milk_carton_009_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/milk_carton_009_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/milk_carton_009_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/milk_carton_009_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/milk_carton_009_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/milk_carton_009_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/milk_carton_009_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/milk_carton_009_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/milk_carton_009_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/milk_carton_009_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/milk_carton_009_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/milk_carton_009_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/milk_carton_009_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/milk_carton_009_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/milk_carton_009_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/milk_carton_009_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/milk_carton_009_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/milk_carton_009_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/milk_carton_009_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/milk_carton_009_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
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