diff --git a/.gitattributes b/.gitattributes
index 656c7ae5d1c3f4dc24ca42a6fb0df27ebb1c4b44..15e00021d5c7569ed4b556fad744152db1ba8cd8 100644
--- a/.gitattributes
+++ b/.gitattributes
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dataset/kitchen_supplies/tableware/efa22f1bf7835194a5df88e216471dd1/mesh/tray_038.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/efa22f1bf7835194a5df88e216471dd1/tray_038.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/f21990b2c5745f788be1982013a6c4bc/mesh/tray_044.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/f21990b2c5745f788be1982013a6c4bc/tray_044.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/coaster_001.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mesh/coaster_001.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mesh/coaster_001.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001.obj filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/coaster_001.urdf b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/coaster_001.urdf
new file mode 100644
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diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mesh/coaster_001.glb b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mesh/coaster_001.glb
new file mode 100644
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diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mesh/coaster_001.obj b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mesh/coaster_001.obj
new file mode 100644
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diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mesh/coaster_001_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mesh/coaster_001_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..266c2e3a3db4122e20f068f3bbd10fdb403a178d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mesh/coaster_001_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2a27a01f6604b36918e34cf689c6aa8af2ccfd77fca5f236f2f28d6fe217994
+size 13953250
diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mesh/material.mtl b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4ff59c32786b2a2f94d99058fc685284dafb0eec
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl coaster_001_geometry_Looks_material_0
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+Ns 1.00000000
+map_Kd coaster_001_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mesh/material_0.png b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..266c2e3a3db4122e20f068f3bbd10fdb403a178d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2a27a01f6604b36918e34cf689c6aa8af2ccfd77fca5f236f2f28d6fe217994
+size 13953250
diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/coaster_001.xml b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/coaster_001.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3c121f98f54722a7999ea626114b085e5c01ba08
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/coaster_001.xml
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diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001.obj b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87f7e283b337159cb63e3f805f023a846057f576
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001.obj
@@ -0,0 +1,3 @@
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diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision.obj b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48a3b7ec6a88e80433bc3b87f4bfd1635debb7f7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision.obj
@@ -0,0 +1,32995 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_0.obj b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e0145df49f42a84cd6b92e142939d289165e529
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_1.obj b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93fe07c40b81e2c043ff0ebde47d9baaa2183bb5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_10.obj b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01cff5bb80e7d6a1334673abed382655c5b81902
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_10.obj
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diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_11.obj b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..989345bd4a350ae49a26fa6d58570793fba3afce
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_11.obj
@@ -0,0 +1,526 @@
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diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_12.obj b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33f56bacd2853e688fa9745c571c9d4a5c271729
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_12.obj
@@ -0,0 +1,799 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_13.obj b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8ad8c549a68c40a80f5fcb14c6c6a75c51a5355
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_13.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00659018 0.04363495 -0.02867471
+v -0.00659018 0.04363495 -0.02767471
+v -0.00659018 0.06245775 -0.02867471
+v -0.00659018 0.06245775 -0.02767471
+v 0.02410492 0.04363495 -0.02867471
+v 0.02410492 0.04363495 -0.02767471
+v 0.02410492 0.06245775 -0.02867471
+v 0.02410492 0.06245775 -0.02767471
+f 2 4 1
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+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_14.obj b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e075576ceaeb861f23cacbb5ad39add5e966822
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_14.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.06678239 0.01054818 -0.02867626
+v -0.06678239 0.01054818 -0.02767626
+v -0.06678239 0.04611820 -0.02867626
+v -0.06678239 0.04611820 -0.02767626
+v -0.04716211 0.01054818 -0.02867626
+v -0.04716211 0.01054818 -0.02767626
+v -0.04716211 0.04611820 -0.02867626
+v -0.04716211 0.04611820 -0.02767626
+f 2 4 1
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+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_15.obj b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..578a9678dc64063d06c002d177931594125b2f74
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_15.obj
@@ -0,0 +1,487 @@
+# https://github.com/mikedh/trimesh
+v 0.02301290 -0.02921613 0.03587375
+v 0.03691993 -0.02921613 0.03587375
+v 0.02474351 -0.02921617 0.04713414
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+v 0.03719149 -0.02921615 0.03974463
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+v 0.03723062 -0.00017929 0.05256092
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+
diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_16.obj b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31a249be5d89bbee8fd200d2df533c2e4035b337
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_16.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.04716019 -0.06280927 -0.02867895
+v -0.04716019 -0.06280927 -0.02767894
+v -0.04716019 -0.03884726 -0.02867895
+v -0.04716019 -0.03884726 -0.02767894
+v -0.00659715 -0.06280927 -0.02867895
+v -0.00659715 -0.06280927 -0.02767894
+v -0.00659715 -0.03884726 -0.02867895
+v -0.00659715 -0.03884726 -0.02767894
+f 2 4 1
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+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_17.obj b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30c89227087446c8b75965c80700e286f37aaadc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_17.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_18.obj b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cb094121b12d1c0e6ef239ecb97e7a82fb58dea
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_18.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_19.obj b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a5b86023e5a19628ad580ee77c5833fe8d798d6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_19.obj
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diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_2.obj b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24e5091eb386a74062a113f35d072a8e8fb6e4fa
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_2.obj
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diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_20.obj b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21d14d560135c15f690b88a6e31f1526b19a0e72
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_20.obj
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diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_21.obj b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a69f050e7e6b051e5fc2d36262efc0220b1f1e0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_21.obj
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diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_22.obj b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77ccb887877100332cb6994d9c0cb84f940290f7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_22.obj
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diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_23.obj b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21967491e7db23a0193c0641e05ac2b2106d258c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_23.obj
@@ -0,0 +1,652 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_24.obj b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cca2a2df8f4157877c19ce96534428979141736
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_24.obj
@@ -0,0 +1,2407 @@
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diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_25.obj b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d51940f5c773c1c9854400c924ef60472f00b06
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_25.obj
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+
diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_26.obj b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f74da6380e6fd477896973e5875a8bf0c999421
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_26.obj
@@ -0,0 +1,1549 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_27.obj b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcfdf2f97ddb7c2e2c9d6da1882c8384e101c1c1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_27.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.03192732 0.02685795 0.03331746
+v -0.02891789 0.02750407 0.03331746
+v -0.03192732 0.02978040 0.03441010
+v -0.03192732 0.04315335 0.03331752
+v -0.01091274 0.03516775 0.03331749
+v -0.01091274 0.03894095 0.03441013
+v -0.03192732 0.04323841 0.03441015
+v -0.03192732 0.04322462 0.03423281
+v -0.03183269 0.04329359 0.03441015
+v -0.03172984 0.04335338 0.03441015
+v -0.03143569 0.04352353 0.03441015
+v -0.03126496 0.04353503 0.03331752
+v -0.01091274 0.05027439 0.03331754
+v -0.01091274 0.05034566 0.03441017
+v -0.02904543 0.04483875 0.03441015
+v -0.02886646 0.04484566 0.03331752
+v -0.01155248 0.05021001 0.03331754
+v -0.01191657 0.05023759 0.03441017
+v -0.02811771 0.04531701 0.03441016
+v -0.02781327 0.04539290 0.03331753
+v -0.01298622 0.05009503 0.03441017
+v -0.01270030 0.05005595 0.03331754
+v -0.02789349 0.04543198 0.03441016
+v -0.02656465 0.04603440 0.03441016
+v -0.02665928 0.04591025 0.03331753
+v -0.01444466 0.04975934 0.03331754
+v -0.01435620 0.04985130 0.03441017
+v -0.02569453 0.04640229 0.03441016
+v -0.02484292 0.04667823 0.03331753
+v -0.01523250 0.04959149 0.03331754
+v -0.01633506 0.04943512 0.03441017
+v -0.02411268 0.04706681 0.03441016
+v -0.02411268 0.04698634 0.03331753
+v -0.01690486 0.04923509 0.03331754
+v -0.01690486 0.04931326 0.03441017
+v -0.02261928 0.04764164 0.03441016
+v -0.02250203 0.04760026 0.03331753
+v -0.01763510 0.04904654 0.03331754
+v -0.01930746 0.04869014 0.03441017
+v -0.02142003 0.04804632 0.03441017
+v -0.02130278 0.04800724 0.03331754
+v -0.01930746 0.04861197 0.03331754
+f 1 2 3
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+f 1 20 25
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+f 38 42 39
+f 39 42 41
+f 39 41 40
+
diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_28.obj b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c8781190556fa1d4a7662fb38d13a5e89e62756
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_28.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.01025535 -0.00957591 -0.02600625
+v 0.01025535 -0.00957601 -0.00081573
+v 0.01025535 -0.00017900 -0.02600621
+v 0.02877992 -0.00957591 -0.02600625
+v 0.01025535 -0.00017910 -0.00081569
+v 0.04006577 -0.00957601 -0.00081573
+v 0.03006506 -0.00017900 -0.02600621
+v 0.02883317 -0.00957591 -0.02593227
+v 0.02905683 -0.00857331 -0.02600624
+v 0.04652345 -0.00388777 -0.01546887
+v 0.04652345 -0.00456200 -0.01521734
+v 0.04652345 -0.00594174 -0.01447013
+v 0.04652345 -0.00706853 -0.01353552
+v 0.04652345 -0.00723225 -0.01334810
+v 0.04652345 -0.00778783 -0.01244800
+v 0.04652345 -0.00803803 -0.01174271
+v 0.04652345 -0.00846299 -0.01030501
+v 0.04125861 -0.00017910 -0.00081569
+v 0.03901138 -0.00957597 -0.01026803
+v 0.04652345 -0.00854210 -0.00936052
+v 0.04652345 -0.00846760 -0.00792282
+v 0.04652345 -0.00821189 -0.00697340
+v 0.04652345 -0.00780165 -0.00579957
+v 0.04652345 -0.00747052 -0.00523731
+v 0.04652345 -0.00708327 -0.00469479
+v 0.04652345 -0.00670247 -0.00434707
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+v 0.02993726 -0.00334871 -0.02600622
+v 0.02979880 -0.00465486 -0.02600623
+v 0.02988400 -0.00395211 -0.02600622
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+
diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_29.obj b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e0cdafe62e94e1318fb5d20b5b7315857efbcfa
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_29.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.01025535 -0.00017900 -0.02600868
+v 0.01025535 -0.00017910 0.00057557
+v 0.01025535 0.00919966 -0.02600865
+v 0.03006506 -0.00017900 -0.02600868
+v 0.01025535 0.00919956 0.00057560
+v 0.04139707 -0.00017910 0.00057557
+v 0.02875862 0.00919966 -0.02600865
+v 0.03006506 0.00100619 -0.02600868
+v 0.04652345 0.00052877 -0.01582521
+v 0.04652345 -0.00017904 -0.01582261
+v 0.04040303 0.00919956 0.00057560
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+v 0.04139707 0.00100609 0.00057557
+v 0.02905683 0.00818890 -0.02600865
+v 0.03029227 0.00919965 -0.02389284
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+v 0.04652345 0.00740852 -0.01246278
+v 0.04652345 0.00670531 -0.01355583
+v 0.04652345 0.00652813 -0.01370678
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+v 0.04652345 0.00100615 -0.01582521
+v 0.04060539 0.00819523 0.00057560
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+v 0.04652345 0.00558434 -0.00371329
+v 0.04652345 0.00670711 -0.00467880
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+v 0.04652345 0.00809336 -0.00792147
+v 0.03903978 0.00919960 -0.01030534
+v 0.04652345 0.00100610 -0.00242248
+v 0.04125151 0.00340308 0.00057558
+v 0.02956804 0.00579834 -0.02600866
+v 0.03502459 0.00919962 -0.01710820
+v 0.03807060 0.00919961 -0.01262154
+v 0.02980590 0.00429918 -0.02600866
+v 0.02974200 0.00474810 -0.02600866
+v 0.04098170 0.00579824 0.00057559
+v 0.04652345 0.00202420 -0.00253178
+f 1 2 5
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+f 1 36 22
+f 1 22 8
+f 1 8 4
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+f 1 6 2
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+f 24 39 25
+f 31 38 32
+
diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_3.obj b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b48d0a06f8ac75e2701b44fe69ee3077b1f20260
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_3.obj
@@ -0,0 +1,6586 @@
+# https://github.com/mikedh/trimesh
+v -0.05594806 -0.00139208 0.03346492
+v -0.05553975 -0.00139206 0.02782378
+v -0.05577955 -0.00378098 0.03259168
+v -0.05583788 -0.00378098 0.03346492
+v -0.05594806 -0.00022656 0.03346493
+v -0.05594158 -0.00022656 0.03330775
+v -0.05588972 -0.00022656 0.03258587
+v -0.05571474 -0.00022655 0.03019901
+v -0.05553975 -0.00022654 0.02781797
+v -0.05535828 -0.00139205 0.02544274
+v -0.05542957 -0.00378096 0.02782378
+v -0.05560456 -0.00378097 0.03020482
+v -0.05555920 -0.00618641 0.03259167
+v -0.05570178 -0.00530194 0.03346491
+v -0.04448317 -0.00022656 0.03346493
+v -0.00489722 0.05059330 0.03330794
+v -0.00730167 0.05055197 0.03330794
+v -0.00969964 0.05040318 0.03330794
+v -0.01155969 0.05020479 0.03330793
+v -0.01270683 0.05005600 0.03330793
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diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_30.obj b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b59307bc20d1759768c7d48edcbab510023fe7fa
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_30.obj
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diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_31.obj b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bdafef95f626869bf4eb3eb48cd88a974b78469
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_31.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_32.obj b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e23d7eb9def27a8c0c9ff9e9b72419cc7893506b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_32.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.06817449 -0.01125442 -0.02867995
+v -0.06817449 -0.01125442 -0.02767995
+v -0.06817449 0.01054470 -0.02867995
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+v -0.05763792 0.01054470 -0.02767995
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+
diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_33.obj b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79b81577738273267c63eb30d251b80c61eba460
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_33.obj
@@ -0,0 +1,625 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_34.obj b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c22b16669851b1adb10f63ede8223182664f7049
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_34.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.02410793 0.02406502 -0.02867945
+v 0.02410793 0.02406502 -0.02767945
+v 0.02410793 0.05434247 -0.02867945
+v 0.02410793 0.05434247 -0.02767945
+v 0.04128679 0.02406502 -0.02867945
+v 0.04128679 0.02406502 -0.02767945
+v 0.04128679 0.05434247 -0.02867945
+v 0.04128679 0.05434247 -0.02767945
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_35.obj b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49bd4dc49e270954180db577b2865471cafe92cc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_35.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.04652345 -0.00017923 0.03587190
+v 0.03498199 -0.00017923 0.03587190
+v 0.04652345 -0.00924777 0.03587187
+v 0.04652345 -0.00017920 0.02794615
+v 0.03394535 -0.00852663 0.03587187
+v 0.01025535 -0.00017922 0.03330061
+v 0.04607969 -0.00957614 0.03587186
+v 0.04601223 -0.00957614 0.03537987
+v 0.04652345 -0.00920178 0.03542297
+v 0.04652345 -0.00139152 0.02794973
+v 0.04125861 -0.00017910 -0.00081569
+v 0.03381755 -0.00957614 0.03587186
+v 0.01025535 -0.00378860 0.03330060
+v 0.01025535 -0.00017910 -0.00081569
+v 0.04282067 -0.00957606 0.01353107
+v 0.04652345 -0.00870046 0.03329340
+v 0.04261476 -0.00957605 0.01213410
+v 0.04246566 -0.00957605 0.01114293
+v 0.04652345 -0.00378858 0.02821188
+v 0.04125506 -0.00139142 -0.00081570
+v 0.01025535 -0.00957613 0.03329698
+v 0.01025535 -0.00957601 -0.00081573
+v 0.04652345 -0.00808326 0.03168095
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+v 0.04652345 -0.00462470 0.02843094
+v 0.04106691 -0.00378848 -0.00081570
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+v 0.04006577 -0.00957601 -0.00081573
+v 0.04652345 -0.00775028 0.03101658
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+v 0.04192959 -0.00955213 0.00777799
+v 0.04190829 -0.00687451 0.00549759
+v 0.04135091 -0.00858078 0.00399648
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+v 0.04007287 -0.00955210 -0.00081573
+v 0.04031428 -0.00957601 0.00021854
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+v 0.04652345 -0.00658486 0.02978122
+v 0.04116631 -0.00957602 0.00399647
+v 0.04083615 -0.00858078 0.00161193
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+v 0.04028588 -0.00853753 -0.00081572
+v 0.04064444 -0.00957602 0.00161192
+v 0.04086455 -0.00957602 0.00260309
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+
diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_36.obj b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eeb82c414d72c244dd382b273deb60374a7c5e1b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_36.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.06667008 -0.04631055 -0.02867782
+v -0.06667008 -0.04631055 -0.02767782
+v -0.06667008 -0.01125442 -0.02867782
+v -0.06667008 -0.01125442 -0.02767782
+v -0.04716019 -0.04631055 -0.02867782
+v -0.04716019 -0.04631055 -0.02767782
+v -0.04716019 -0.01125442 -0.02867782
+v -0.04716019 -0.01125442 -0.02767782
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_37.obj b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c835af92438967883ebeab0179e37786506db67
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_37.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.02410793 -0.05503150 -0.02867984
+v 0.02410793 -0.05503150 -0.02767983
+v 0.02410793 -0.02053868 -0.02867984
+v 0.02410793 -0.02053868 -0.02767983
+v 0.05235216 -0.05503150 -0.02867984
+v 0.05235216 -0.05503150 -0.02767983
+v 0.05235216 -0.02053868 -0.02867984
+v 0.05235216 -0.02053868 -0.02767983
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_38.obj b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2e649cafe4da7406fb3c21140218289515ac361
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_38.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.01025535 -0.00017910 0.00057817
+v 0.01025535 -0.00017922 0.03330044
+v 0.01025535 0.00919956 0.00057820
+v 0.04139707 -0.00017910 0.00057817
+v 0.01025535 0.00819511 0.03330393
+v 0.03498909 -0.00017923 0.03590799
+v 0.03372524 0.00913150 0.03590802
+v 0.03371814 0.00919943 0.03590802
+v 0.01025535 0.00919944 0.03330047
+v 0.04040303 0.00919956 0.00057820
+v 0.04139707 0.00100609 0.00057817
+v 0.04652345 -0.00017920 0.02794702
+v 0.04652345 -0.00017923 0.03590799
+v 0.04609388 0.00919943 0.03590802
+v 0.04065509 0.00919955 0.00161222
+v 0.04060539 0.00819523 0.00057820
+v 0.04125151 0.00340308 0.00057818
+v 0.04205384 0.00340306 0.00474195
+v 0.04652345 0.00499760 0.02866291
+v 0.04652345 0.00340298 0.02819949
+v 0.04652345 0.00227196 0.02807153
+v 0.04652345 0.00100599 0.02794702
+v 0.04652345 0.00882946 0.03590802
+v 0.04607613 0.00919943 0.03576277
+v 0.04116986 0.00919955 0.00399844
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+v 0.04652345 0.00871654 0.03497082
+v 0.04596608 0.00919943 0.03497428
+v 0.04135802 0.00819522 0.00399844
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diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_39.obj b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46c60c8c880b2c1257627a8a09369217e649045a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_39.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_4.obj b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93f60095eca6eacd8c899142deeb2cd1e24a394e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_4.obj
@@ -0,0 +1,811 @@
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+
diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_40.obj b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21660cba4769d6660466d10edd0149c764aa9ca4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_40.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.04128679 0.00126162 -0.02868064
+v 0.04128679 0.00126162 -0.02768064
+v 0.04128679 0.04021911 -0.02868064
+v 0.04128679 0.04021911 -0.02768064
+v 0.05613984 0.00126162 -0.02868064
+v 0.05613984 0.00126162 -0.02768064
+v 0.05613984 0.04021911 -0.02868064
+v 0.05613984 0.04021911 -0.02768064
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_41.obj b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02d7a9a9ed3e31f82dba7d727932fae804d6eafa
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_41.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.04715818 0.03228466 -0.02867700
+v -0.04715818 0.03228466 -0.02767700
+v -0.04715818 0.05766633 -0.02867700
+v -0.04715818 0.05766633 -0.02767700
+v -0.02910850 0.03228466 -0.02867700
+v -0.02910850 0.03228466 -0.02767700
+v -0.02910850 0.05766633 -0.02867700
+v -0.02910850 0.05766633 -0.02767700
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_42.obj b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e79f774ebd19a67e654a3aaccbc7f113f96ad66d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_42.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.04294888 -0.02053655 -0.02868068
+v 0.04294888 -0.02053655 -0.02768068
+v 0.04294888 0.00125949 -0.02868068
+v 0.04294888 0.00125949 -0.02768068
+v 0.05615128 -0.02053655 -0.02868068
+v 0.05615128 -0.02053655 -0.02768068
+v 0.05615128 0.00125949 -0.02868068
+v 0.05615128 0.00125949 -0.02768068
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_43.obj b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d55e414c24fe6cc6bd1814ce3388052078f15772
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_43.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.02910849 0.04714948 -0.02867230
+v -0.02910849 0.04714948 -0.02767230
+v -0.02910849 0.06244674 -0.02867230
+v -0.02910849 0.06244674 -0.02767230
+v -0.00659538 0.04714948 -0.02867230
+v -0.00659538 0.04714948 -0.02767230
+v -0.00659538 0.06244674 -0.02867230
+v -0.00659538 0.06244674 -0.02767230
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_5.obj b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..818e05e51853b68718e024da1b1e02e7de1b9582
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_5.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.04652345 -0.00941879 0.03757763
+v 0.05517816 -0.00838936 0.04212091
+v 0.04652345 -0.00939713 0.03974109
+v 0.04652345 -0.00940073 0.03736128
+v 0.04652345 -0.00904676 0.04212533
+v 0.04652345 -0.00920025 0.03542520
+v 0.05517816 -0.00811484 0.03973889
+v 0.05517816 -0.00781866 0.04409232
+v 0.04652345 -0.00830268 0.04430204
+v 0.04652345 -0.00869997 0.03329484
+v 0.05517816 -0.00754412 0.03834146
+v 0.04652345 -0.00808230 0.03168328
+v 0.05517816 -0.00702220 0.04528443
+v 0.04652345 -0.00802997 0.04461773
+v 0.04652345 -0.00774998 0.03102099
+v 0.04652345 -0.00696074 0.03016444
+v 0.04652345 -0.00658508 0.02978253
+v 0.04652345 -0.00602159 0.02923504
+v 0.04652345 -0.00536961 0.02867651
+v 0.05517816 -0.00618417 0.03723766
+v 0.05517816 -0.00582480 0.04625138
+v 0.04652345 -0.00208087 0.05021849
+v 0.04652345 -0.00606500 0.04682095
+v 0.04652345 -0.00462371 0.02843367
+v 0.05517816 -0.00452621 0.03625527
+v 0.05517816 -0.00378938 0.04707262
+v 0.04652345 -0.00139098 0.05048340
+v 0.04652345 -0.00378751 0.02821513
+v 0.05517816 -0.00333061 0.03601465
+v 0.05517816 -0.00139457 0.04737728
+v 0.04652345 -0.00000393 0.05049886
+v 0.04652345 -0.00139089 0.02795242
+v 0.05517816 -0.00139092 0.03583583
+v 0.05517816 0.00100025 0.04737508
+v 0.04652345 0.00100384 0.05050107
+v 0.04652345 -0.00000926 0.02795022
+v 0.05517816 0.00100390 0.03583143
+v 0.05517816 0.00339868 0.04707043
+v 0.04652345 0.00320542 0.04906613
+v 0.05517816 0.00544492 0.04625142
+v 0.04652345 0.00100393 0.02795022
+v 0.05517816 0.00310433 0.03601909
+v 0.04652345 0.00568152 0.04682540
+v 0.05517816 0.00664414 0.04529552
+v 0.04652345 0.00227177 0.02807607
+v 0.05517816 0.00329577 0.03603675
+v 0.04652345 0.00585851 0.04665541
+v 0.05517816 0.00742978 0.04410341
+v 0.04652345 0.00791922 0.04430431
+v 0.04652345 0.00340055 0.02820411
+v 0.05517816 0.00418254 0.03624427
+v 0.05517816 0.00799869 0.04212539
+v 0.04652345 0.00866693 0.04212539
+v 0.04652345 0.00811969 0.04384733
+v 0.04652345 0.00499708 0.02866551
+v 0.05517816 0.00556596 0.03700149
+v 0.04652345 0.00902091 0.03974115
+v 0.04652345 0.00874639 0.04166399
+v 0.05517816 0.00773501 0.03974115
+v 0.04652345 0.00903176 0.03736134
+v 0.04652345 0.00621436 0.02977153
+v 0.05517816 0.00716792 0.03832607
+v 0.04652345 0.00803123 0.03259509
+v 0.04652345 0.00871571 0.03497269
+v 0.04652345 0.00737023 0.03101002
+f 1 2 3
+f 1 3 5
+f 1 5 9
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+f 1 22 27
+f 1 27 31
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+f 52 60 57
+f 55 61 62
+f 55 62 56
+f 59 62 63
+f 59 63 64
+f 59 64 60
+f 61 65 62
+f 62 65 63
+
diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_6.obj b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d25d719c959ee45b098937b118866f80f29eef9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_6.obj
@@ -0,0 +1,451 @@
+# https://github.com/mikedh/trimesh
+v 0.04652345 -0.00854247 -0.00935734
+v 0.04652345 -0.00846746 -0.00792032
+v 0.04652345 -0.00846256 -0.01030226
+v 0.05037750 -0.00843485 -0.00792032
+v 0.05518160 -0.00834192 -0.00553630
+v 0.05758427 -0.00837781 -0.00315642
+v 0.05901364 -0.00835987 -0.00173800
+v 0.04652345 -0.00821148 -0.00697126
+v 0.05901364 -0.00818216 -0.00071451
+v 0.05901364 -0.00788052 0.00081142
+v 0.04652345 -0.00803863 -0.01173929
+v 0.04797361 -0.00828484 -0.01030226
+v 0.05277894 -0.00820658 -0.00792032
+v 0.05901364 -0.00805822 -0.00425849
+v 0.05901364 -0.00825389 -0.00315642
+v 0.04652345 -0.00780060 -0.00579683
+v 0.05901364 -0.00772888 0.00126631
+v 0.05035060 -0.00783971 -0.01039117
+v 0.04652345 -0.00778753 -0.01244436
+v 0.05277894 -0.00765384 -0.00961787
+v 0.05507890 -0.00777124 -0.00792445
+v 0.05773344 -0.00791148 -0.00570792
+v 0.05901364 -0.00775984 -0.00526544
+v 0.05901364 -0.00720713 0.00232495
+v 0.04652345 -0.00746961 -0.00523649
+v 0.04797361 -0.00768156 -0.01200188
+v 0.04953137 -0.00749079 -0.01165452
+v 0.04652345 -0.00723153 -0.01334586
+v 0.05420953 -0.00746960 -0.00924362
+v 0.05703160 -0.00759515 -0.00713460
+v 0.05901364 -0.00740439 -0.00614006
+v 0.05901364 -0.00711583 0.00244901
+v 0.04652345 -0.00708319 -0.00469270
+v 0.04652345 -0.00706848 -0.01353609
+v 0.05113315 -0.00719241 -0.01124305
+v 0.05581253 -0.00706687 -0.00872257
+v 0.05863337 -0.00731145 -0.00661562
+v 0.05277894 -0.00671794 -0.01081090
+v 0.05901364 -0.00716634 -0.00647502
+v 0.05901364 -0.00639189 0.00328643
+v 0.04652345 -0.00670165 -0.00434532
+v 0.05901364 -0.00595166 0.00369582
+v 0.04652345 -0.00594181 -0.01447066
+v 0.04797361 -0.00546082 -0.01421634
+v 0.05020387 -0.00612443 -0.01260150
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diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_7.obj b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b79e4a1f35c516c39f0232e495fd04d6e1e8d616
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_7.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+v -0.04716019 -0.03884669 -0.02768308
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+v -0.04144358 -0.03300393 -0.02768308
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+f 6 8 2
+f 4 8 3
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+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_8.obj b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc920e9f199366f04681983a552c3cf5a4eecc6d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_8.obj
@@ -0,0 +1,904 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_9.obj b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4955c1dd263df6e2197b39bc0ac780ab7c949272
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/dc56bcda80b956c8906e122273b8ca3e/mjcf/mesh/coaster_001_collision_9.obj
@@ -0,0 +1,826 @@
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