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diff --git a/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/coaster_002.urdf b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/coaster_002.urdf
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new file mode 100644
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diff --git a/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mesh/coaster_002_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mesh/coaster_002_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f8283940e1f3f354904def3af13ae14c26f892f2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mesh/coaster_002_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31d29851689b07b053c1f7714c9c200eddcf697bf120b1e4cedc031d62198caa
+size 13814563
diff --git a/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mesh/material.mtl b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d96b525b70d202d25f50588b4003aad834a6a5a8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl coaster_002_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 coaster_002_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mesh/material_0.png b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f8283940e1f3f354904def3af13ae14c26f892f2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31d29851689b07b053c1f7714c9c200eddcf697bf120b1e4cedc031d62198caa
+size 13814563
diff --git a/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/coaster_002.xml b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/coaster_002.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9beca97c3adf665c68d84c29c73fd7c44bb74508
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/coaster_002.xml
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diff --git a/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002.obj b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9a6a2b777e5e29ffbf94cb0d779cdc73ab48ff4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bb643d534967a30457d680a196280eba6388a7f81d5e8569dd9aaed2d1bb0bf
+size 112941287
diff --git a/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision.obj b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05346a0702bc5de4cd996f7be256ed3b1cca854f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision.obj
@@ -0,0 +1,9166 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_0.obj b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8cc550ea9fff07e76eb86e4a95e8aca6497c47e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_1.obj b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fa95427dbf09fa1fb253a4772723cf9e195e8f9
--- /dev/null
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diff --git a/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_10.obj b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cc77b5ce3ffea0d60d2cc388b9739966db48fe7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_10.obj
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diff --git a/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_11.obj b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2e51837eb1fbb31d4328b7b6bbefc59c5e0e67b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_11.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_12.obj b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a917fb682737eb2dccf81ecd726a8097738e0b6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_12.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_13.obj b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77f7cae516ffe2cce3675f39268ae772db468492
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_13.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.01573516 -0.04085392 0.00357542
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diff --git a/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_14.obj b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..802f8b93b8242a2caad93e68c7bdb6bef385436c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_14.obj
@@ -0,0 +1,379 @@
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diff --git a/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_15.obj b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..827f38ac6c4879ae9fa77656908367e2063cdacd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_15.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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+f 21 31 29
+f 23 32 24
+f 23 28 33
+f 23 33 34
+f 23 34 32
+f 24 32 25
+f 28 36 33
+f 32 34 36
+f 32 36 38
+f 33 36 34
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+f 37 43 42
+f 38 44 43
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+f 39 43 40
+f 41 45 43
+f 41 43 44
+f 42 43 45
+
diff --git a/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_16.obj b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae2d4147c9aef7eaec2252e6217a88a69752c185
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_16.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v 0.04110468 -0.01464992 0.00346953
+v 0.04368295 -0.00023333 0.00343447
+v 0.04823998 -0.01464992 0.00346953
+v 0.04162993 -0.01464993 0.00430735
+v 0.04230190 0.01004489 0.00343451
+v 0.04232907 0.00975724 0.00343451
+v 0.04251290 0.00839873 0.00343450
+v 0.05035639 -0.00023333 0.00343447
+v 0.04971069 -0.00874695 0.00346955
+v 0.04819289 -0.01464992 0.00369514
+v 0.04211353 -0.01464993 0.00478421
+v 0.04312510 0.00993611 0.00467808
+v 0.04305355 0.01004488 0.00458046
+v 0.04926875 0.01004489 0.00343451
+v 0.05034915 -0.00091984 0.00346958
+v 0.05031564 -0.00200761 0.00346957
+v 0.05029752 -0.00257567 0.00346957
+v 0.05009557 -0.00541112 0.00346956
+v 0.04990902 -0.00732560 0.00346955
+v 0.04979944 -0.00828767 0.00346955
+v 0.05035639 0.00012201 0.00343447
+v 0.04946527 -0.00754558 0.00435899
+v 0.04936928 -0.00921349 0.00392217
+v 0.04900431 -0.01085965 0.00397676
+v 0.04863573 -0.01251789 0.00397675
+v 0.04825447 -0.01404319 0.00395305
+v 0.04807063 -0.01340262 0.00472855
+v 0.04786234 -0.01450732 0.00442990
+v 0.04784061 -0.01464993 0.00437829
+v 0.04246038 -0.01464993 0.00496452
+v 0.04323468 0.01004488 0.00472741
+v 0.04971703 0.00851960 0.00343450
+v 0.04913472 0.01004489 0.00395209
+v 0.05034915 -0.00068536 0.00346958
+v 0.05023685 -0.00091984 0.00397680
+v 0.05018432 -0.00257567 0.00397679
+v 0.04997151 -0.00588974 0.00386354
+v 0.04985921 -0.00754557 0.00361949
+v 0.05035458 0.00073841 0.00343447
+v 0.05023413 0.00073841 0.00397698
+v 0.05023594 -0.00023333 0.00397698
+v 0.04961470 -0.00588975 0.00460322
+v 0.04969982 -0.00497602 0.00470418
+v 0.04817025 -0.01251790 0.00479825
+v 0.04711974 -0.01464993 0.00493204
+v 0.04775005 -0.01464993 0.00448345
+v 0.04340402 -0.01464993 0.00513816
+v 0.04388037 0.01004488 0.00497198
+v 0.04974330 0.00839148 0.00343450
+v 0.04839303 0.01004488 0.00491703
+v 0.04945803 0.00736897 0.00433834
+v 0.04936113 0.00901755 0.00391205
+v 0.04981121 -0.00091985 0.00479602
+v 0.04978495 -0.00257568 0.00477599
+v 0.04974872 -0.00387133 0.00474615
+v 0.05000954 -0.00434512 0.00411742
+v 0.05029481 0.00239666 0.00343448
+v 0.05017436 0.00239666 0.00397699
+v 0.04978042 0.00239665 0.00477233
+v 0.04980940 0.00073840 0.00479514
+v 0.04849174 -0.00920141 0.00495260
+v 0.04833960 -0.01085966 0.00489834
+v 0.04670044 -0.01464993 0.00501631
+v 0.04722751 -0.01251790 0.00505634
+v 0.04391479 -0.01464993 0.00521032
+v 0.04557205 0.01004488 0.00522252
+v 0.04978495 0.00816909 0.00343450
+v 0.04984925 0.00736898 0.00359883
+v 0.04722751 0.01004488 0.00516669
+v 0.04848540 0.00902480 0.00495090
+v 0.04968986 0.00473414 0.00469491
+v 0.04960292 0.00571072 0.00458834
+v 0.04888478 -0.00091985 0.00505727
+v 0.04888478 -0.00257568 0.00503882
+v 0.04888568 0.00073840 0.00505604
+v 0.04878516 -0.00588975 0.00498281
+v 0.04863573 -0.00754558 0.00497612
+v 0.05025134 0.00300339 0.00343448
+v 0.04996245 0.00571073 0.00384883
+v 0.04999958 0.00413224 0.00411201
+v 0.04974420 0.00363187 0.00474266
+v 0.04888568 0.00239665 0.00503463
+v 0.04862939 0.00736897 0.00497583
+v 0.04877429 0.00571072 0.00498250
+v 0.04722751 -0.01085966 0.00514870
+v 0.04557205 -0.01464993 0.00520997
+v 0.04509932 -0.01464993 0.00522068
+v 0.04557205 0.00902480 0.00522304
+v 0.04722751 0.00571072 0.00522812
+v 0.04722751 0.00736897 0.00522146
+v 0.04722751 0.00902480 0.00519793
+v 0.04987008 0.00736898 0.00343450
+v 0.05003852 0.00571073 0.00343449
+v 0.04722751 -0.00588975 0.00522755
+v 0.04722751 -0.00754558 0.00522034
+v 0.04722751 -0.00920141 0.00519822
+v 0.04557205 -0.01417373 0.00522032
+f 1 2 8
+f 1 8 3
+f 1 3 10
+f 1 10 29
+f 1 29 46
+f 1 46 45
+f 1 45 63
+f 1 63 86
+f 1 86 87
+f 1 87 65
+f 1 65 47
+f 1 47 30
+f 1 30 11
+f 1 11 4
+f 1 4 5
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+f 1 7 2
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+f 2 32 49
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+f 45 64 63
+f 47 65 66
+f 47 66 48
+f 49 52 51
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+f 49 68 67
+f 50 69 70
+f 50 70 71
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+f 50 72 51
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+f 53 74 54
+f 53 60 75
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+f 54 76 55
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+f 58 79 80
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+f 59 82 60
+f 59 81 83
+f 59 83 84
+f 59 84 82
+f 60 82 75
+f 61 85 62
+f 61 77 85
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+f 63 64 86
+f 64 85 86
+f 65 87 88
+f 65 88 66
+f 66 88 89
+f 66 89 90
+f 66 90 91
+f 66 91 69
+f 67 68 92
+f 68 72 71
+f 68 71 79
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+f 68 93 92
+f 69 91 83
+f 69 83 70
+f 70 83 81
+f 70 81 71
+f 71 81 80
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+f 86 96 97
+f 86 97 87
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+f 87 94 89
+f 87 89 88
+f 94 97 95
+f 95 97 96
+
diff --git a/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_17.obj b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc4733e12df06d4164e12b5e21f819e4cac76f09
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_17.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.03830231 -0.00646564 0.00301552
+v 0.03830231 -0.00646564 0.00401552
+v 0.03830231 -0.00489317 0.00301552
+v 0.03830231 -0.00489317 0.00401552
+v 0.03962663 -0.00646564 0.00301552
+v 0.03962663 -0.00646564 0.00401552
+v 0.03962663 -0.00489317 0.00301552
+v 0.03962663 -0.00489317 0.00401552
+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/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_18.obj b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfa96429ea79ff917328291e18b9dfaad48e276a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_18.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.04287156 0.00722637 0.00357560
+v -0.04344867 0.00722636 0.00427148
+v -0.03893390 0.00573305 0.00357559
+v -0.04986789 0.00722637 0.00357560
+v -0.04352524 0.00722636 0.00435806
+v -0.03892170 0.00571179 0.00357559
+v -0.04428214 0.00722636 0.00496737
+v -0.05004657 0.00538950 0.00357559
+v -0.04996555 0.00571179 0.00383598
+v -0.04986234 0.00722637 0.00360392
+v -0.03895277 0.00566926 0.00357559
+v -0.04451521 0.00239860 0.00489372
+v -0.04438536 0.00722636 0.00498889
+v -0.04558064 0.00239860 0.00514423
+v -0.05025855 0.00239861 0.00357558
+v -0.05016754 0.00239861 0.00397692
+v -0.04999996 0.00409134 0.00410608
+v -0.04968920 0.00466787 0.00468528
+v -0.04960153 0.00571178 0.00457572
+v -0.04947279 0.00722636 0.00434382
+v -0.04395586 0.00239861 0.00397612
+v -0.04371835 0.00239861 0.00357558
+v -0.04558064 0.00722636 0.00521514
+v -0.04558064 0.00571178 0.00519652
+v -0.04723760 0.00239860 0.00522742
+v -0.04978132 0.00239860 0.00476425
+v -0.04974914 0.00356301 0.00473803
+v -0.04864375 0.00722636 0.00497481
+v -0.04871589 0.00722636 0.00493986
+v -0.04572380 0.00722636 0.00521789
+v -0.04723760 0.00405495 0.00522871
+v -0.04889568 0.00239860 0.00502545
+v -0.04877249 0.00571178 0.00497998
+v -0.04737078 0.00722636 0.00520090
+v -0.04723760 0.00722636 0.00522242
+v -0.04723760 0.00571178 0.00522856
+f 1 2 3
+f 1 3 6
+f 1 6 11
+f 1 11 22
+f 1 22 15
+f 1 15 8
+f 1 8 4
+f 1 4 10
+f 1 10 20
+f 1 20 29
+f 1 29 28
+f 1 28 34
+f 1 34 35
+f 1 35 30
+f 1 30 23
+f 1 23 13
+f 1 13 7
+f 1 7 5
+f 1 5 2
+f 2 5 3
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+f 4 8 9
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+f 6 12 11
+f 7 13 14
+f 7 14 12
+f 8 15 9
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+f 9 16 17
+f 9 17 18
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+f 9 19 10
+f 10 19 20
+f 11 12 21
+f 11 21 22
+f 12 14 25
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+f 12 32 26
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+f 12 16 15
+f 12 15 22
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+f 17 27 18
+f 18 27 28
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+f 26 33 28
+f 26 28 27
+f 28 33 32
+f 28 32 34
+f 30 35 36
+f 30 36 31
+f 31 36 32
+f 32 36 35
+f 32 35 34
+
diff --git a/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_19.obj b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be98200e5d62428249ef2e925d6431231af0afea
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_19.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.03799989 0.00441099 0.00300335
+v 0.03799989 0.00441099 0.00400335
+v 0.03799989 0.00656136 0.00300335
+v 0.03799989 0.00656136 0.00400335
+v 0.03993144 0.00441099 0.00300335
+v 0.03993144 0.00441099 0.00400335
+v 0.03993144 0.00656136 0.00300335
+v 0.03993144 0.00656136 0.00400335
+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/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_2.obj b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c6f047b00f7cb0a5c5964eb424077f38b73a9c3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_2.obj
@@ -0,0 +1,1312 @@
+# https://github.com/mikedh/trimesh
+v 0.00013636 -0.00023185 -0.00762307
+v 0.04225263 0.00902918 -0.00764255
+v 0.04225263 -0.00023185 -0.00763608
+v 0.00013636 -0.00023189 0.00292810
+v 0.00013636 0.04285874 -0.00763809
+v 0.03894039 0.01897583 -0.00763926
+v 0.04059898 0.01565697 -0.00763927
+v 0.04225263 0.01068861 -0.00764038
+v 0.04391122 0.00074195 -0.00762524
+v 0.04391122 -0.00023185 -0.00762524
+v 0.01076909 0.04217310 -0.00764027
+v 0.01573992 0.04051367 -0.00764027
+v 0.03065239 0.03057198 -0.00763922
+v 0.03231098 0.02891255 -0.00763922
+v 0.00096071 -0.00023189 0.00300617
+v 0.00013636 0.00144742 0.00327942
+v 0.00013636 0.04383254 -0.00763809
+v 0.04391122 0.02063030 -0.00748528
+v 0.03396957 0.02725809 -0.00763815
+v 0.03728181 0.02228973 -0.00763600
+v 0.04722346 0.01068861 -0.00750159
+v 0.04888205 0.00074195 -0.00746151
+v 0.04888205 -0.00023185 -0.00746151
+v 0.00082744 0.04383254 -0.00763809
+v 0.00248109 0.04383254 -0.00763592
+v 0.00413967 0.04383254 -0.00763158
+v 0.01242767 0.04217310 -0.00763268
+v 0.01739850 0.04051367 -0.00762400
+v 0.02071568 0.03885921 -0.00762726
+v 0.01905709 0.03885921 -0.00763919
+v 0.02734016 0.03388588 -0.00763704
+v 0.02899381 0.03885921 -0.00749498
+v 0.04367922 -0.00023189 0.00343447
+v 0.03819996 0.00495011 0.00343449
+v 0.00013636 0.04372319 0.00343463
+v 0.00013636 0.04880090 -0.00746133
+v 0.04505150 0.02063030 -0.00730095
+v 0.04556981 0.01731640 -0.00746036
+v 0.04225263 0.02394419 -0.00748094
+v 0.04395071 0.02225495 -0.00735951
+v 0.03562322 0.02559866 -0.00762731
+v 0.03894039 0.02891255 -0.00748851
+v 0.04722346 0.01234307 -0.00745604
+v 0.04852170 0.00902918 -0.00737582
+v 0.04866979 0.00736974 -0.00738666
+v 0.04888205 0.00240138 -0.00744524
+v 0.04983969 0.00074195 -0.00723164
+v 0.04984462 -0.00023185 -0.00723273
+v 0.00082744 0.04880090 -0.00746133
+v 0.01076909 0.04714643 -0.00748953
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+v 0.01739850 0.04548700 -0.00747760
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+v 0.02568157 0.03554531 -0.00762944
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+v 0.02402792 0.04217310 -0.00748305
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+v 0.02899381 0.04020564 -0.00732040
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+v 0.03232579 0.03722959 -0.00737788
+v 0.03401893 0.03559996 -0.00738548
+v 0.03567258 0.03393060 -0.00738549
+v 0.05035306 -0.00023189 0.00343447
+v 0.00013636 0.05030627 0.00343465
+v 0.00013636 0.04921327 -0.00737459
+v 0.04340279 0.02394419 -0.00729227
+v 0.04483924 0.02167365 -0.00719470
+v 0.04643366 0.01824051 -0.00715133
+v 0.04658174 0.01731640 -0.00724676
+v 0.04683843 0.01565697 -0.00735627
+v 0.04559449 0.01886653 -0.00733891
+v 0.04073226 0.02738727 -0.00738985
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+v 0.03730155 0.03222645 -0.00737248
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+v 0.04837361 0.01068861 -0.00733027
+v 0.04972615 0.00499984 -0.00713295
+v 0.04976071 0.00405585 -0.00716549
+v 0.04981007 0.00240138 -0.00720886
+v 0.04888205 0.00405585 -0.00741271
+v 0.05023953 0.00074194 -0.00638156
+v 0.05007663 -0.00023186 -0.00673287
+v 0.00082744 0.04978960 -0.00725098
+v 0.00248109 0.04880090 -0.00745265
+v 0.01573992 0.04682846 -0.00736809
+v 0.00413967 0.04880090 -0.00742988
+v 0.00911050 0.04849783 -0.00737784
+v 0.01076909 0.04834380 -0.00734965
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diff --git a/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_20.obj b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..016bb62fb69852c6284fc8685f4901d655569892
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_20.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.03621210 0.01679093 0.00293516
+v -0.03621210 0.01679093 0.00393516
+v -0.03621210 0.01879777 0.00293516
+v -0.03621210 0.01879777 0.00393516
+v -0.03424912 0.01679093 0.00293516
+v -0.03424912 0.01679093 0.00393516
+v -0.03424912 0.01879777 0.00293516
+v -0.03424912 0.01879777 0.00393516
+f 2 4 1
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+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_21.obj b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..170ec877be75dc8deaab45079c507bcdafd3c6c9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_21.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.03843654 0.02804238 0.00338160
+v -0.03332297 0.02804238 0.00338160
+v -0.03843531 0.02048451 0.00338176
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+v -0.03515540 0.03502653 0.00484234
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+
diff --git a/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_22.obj b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ccf0a7634cc131b8b65bb933b51cf75c41b5181
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_22.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.03258168 0.02153877 0.00290881
+v -0.03258168 0.02153877 0.00390881
+v -0.03258168 0.02648968 0.00290881
+v -0.03258168 0.02648968 0.00390881
+v -0.02819612 0.02153877 0.00290881
+v -0.02819612 0.02153877 0.00390881
+v -0.02819612 0.02648968 0.00290881
+v -0.02819612 0.02648968 0.00390881
+f 2 4 1
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+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_3.obj b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef6164a723b7e6b51ad46c327595ead74ff796cc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_3.obj
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diff --git a/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_4.obj b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bac3afc541ed321753152fa86d9ebbf2c9067179
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_4.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_5.obj b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..364b76a5029dfc1c13a2b0b15ab94bcd9ea46d13
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_5.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_6.obj b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d4abc36b20762ef860bd53dcea4b0bdbca1b2e4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_6.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_7.obj b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c701fc08186827c1179537ac0fbbb5097233921
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_7.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.04823924 -0.01464993 0.00346965
+v 0.04819261 -0.01464993 0.00369517
+v 0.04813954 -0.01518018 0.00346964
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+
diff --git a/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_8.obj b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e57805320c612f8b8b99c8bd5d80eb35855abef7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_8.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
+v 0.04052332 -0.02995249 0.00346942
+v 0.04036653 -0.02995249 0.00400333
+v 0.04009167 -0.03035314 0.00397676
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diff --git a/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_9.obj b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002_collision_9.obj
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index 0000000000000000000000000000000000000000..f3d055fedb087f88e7b39ebaac8cefc9cf2fc75d
--- /dev/null
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diff --git a/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/video.mp4 b/dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/video.mp4
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