diff --git a/.gitattributes b/.gitattributes
index c2713373c4285291305ad20ebe23356703572433..63982d2953a0cedc9e99a39919e7eaf8364a7bae 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4051,5 +4051,6 @@ dataset/kitchen_supplies/storage/ff1ffd4756b2567bad50667ca4a9ca16/storage_bin_03
 dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/01dbfbb228385981a0d162f2ac7664be.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mesh/metal_colander.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mesh/metal_colander_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/mesh/tray_082.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/tray_082.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/04fb4c8ea9b15857ad3f22d9ab0acabd.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mesh/white_dish.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mesh/white_dish_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/04fb4c8ea9b15857ad3f22d9ab0acabd.urdf b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/04fb4c8ea9b15857ad3f22d9ab0acabd.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c982291bac494304f358bffc06a9103f1dc389c3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/04fb4c8ea9b15857ad3f22d9ab0acabd.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="white_dish">
+   <link name="white_dish">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/white_dish.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/white_dish_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.165623</scale>
+         <version>v0.1.7</version>
+         <category>white dish</category>
+         <description>shallow white dish with a slightly concave base</description>
+         <min_height>0.03</min_height>
+         <max_height>0.05</max_height>
+         <real_height>0.04</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20260120041443</generate_time>
+         <gs_model>mesh/white_dish_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.568029403686523</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/04fb4c8ea9b15857ad3f22d9ab0acabd.usd b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/04fb4c8ea9b15857ad3f22d9ab0acabd.usd
new file mode 100644
index 0000000000000000000000000000000000000000..929d54ab63014d97b8ac3904fc030de9fd3452d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/04fb4c8ea9b15857ad3f22d9ab0acabd.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1df81eb6dbde1bf0577d2e7e234e6bd710bea7293d198733c91ee6a35e63cda5
+size 510690
diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mesh/material.mtl b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mesh/material_0.png b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..94870a7c7d9e65893770907cde9b8ebd097e2c83
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3000e38b3bb7cfff680f643a5557072f857dc9443e97667d502cae2e6a80a0d
+size 899234
diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mesh/white_dish.glb b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mesh/white_dish.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f3122984c308f04ad236131cc29c0196bf208ecd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mesh/white_dish.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02ad4e8a0dde854a4e19f162576b673e6d7aa5b670637cdd9620622423cf36f3
+size 1239968
diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mesh/white_dish.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mesh/white_dish.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5013340ccc1776f22c7a40e0849b15670e51b0a1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mesh/white_dish.obj
@@ -0,0 +1,31050 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mesh/white_dish_collision.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mesh/white_dish_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16ff6938518e6fc5f4d6b3aab2a23783af792b1a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mesh/white_dish_collision.obj
@@ -0,0 +1,20628 @@
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diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mesh/white_dish_gs.ply b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mesh/white_dish_gs.ply
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diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:b3000e38b3bb7cfff680f643a5557072f857dc9443e97667d502cae2e6a80a0d
+size 899234
diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9060859b74a920e909305a923e4dc023a1930cd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92af5c5fa71fa72b392365df1b7aff9c73ddcc96
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision.obj
@@ -0,0 +1,20628 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_0.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f88ec36d423b1a3c6deda9bed71d8f5f9ccce375
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_1.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed154c94c2c2cbcb13d608ba1775de8d3e3e1abb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_10.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec5f5a791aaeb1066efcad7b9289edc266b034cc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_10.obj
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+
diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_11.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40063f37e64f649778039690da3676f8785f566f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_11.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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+v -0.02571047 -0.05778430 -0.00492000
+v -0.02571047 -0.06149922 0.00921060
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+
diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_12.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..716769dd1ab541c4fc1c3f415ae7c9a3eaf8037f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_12.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.06717996 -0.03504919 0.01952982
+v 0.06717996 -0.03504917 0.01262691
+v 0.06717996 -0.03331345 0.01955518
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+
diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_13.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c1dc3bedb9be6656e8831619d3c40221f16a78b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_13.obj
@@ -0,0 +1,436 @@
+# https://github.com/mikedh/trimesh
+v -0.02917715 0.06831898 0.00921385
+v -0.02917715 0.06143447 0.00921383
+v -0.02917715 0.06797714 0.00870618
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diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_14.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da6b65846987ab571da781e3aa6c113729d1aec4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_14.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_15.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..778aec7cf44eebd86e3ddb35adfdf801ae20dfae
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_15.obj
@@ -0,0 +1,511 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_16.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..933100b97ee0c4c7c7a498ae5c6999c5c91f1309
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_16.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_17.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..857ca5abc41baf8a49055fa900c2d8f329cd2cd1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_17.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_18.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a10adb9b482214b4f2380d7bbe338c1a566402e6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_18.obj
@@ -0,0 +1,610 @@
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diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_19.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff45001c9151c8fbb8f353ef4967c0ff2970863a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_19.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_2.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..801c14fcf4adcccd0a0aa664eb048a99293a1ac3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_2.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.05505514 -0.06402262 0.00955818
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+
diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_20.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f77ce8deaefd605618550918e67ae6b45d504e0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_20.obj
@@ -0,0 +1,454 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_21.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dee2526b4e3e2deda3bed2233a761357e60a5a42
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_21.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_22.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..170c781de95608fcb700d2a5fd29b0f6b0213c9c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_22.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_23.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9902855ebb361d99b605cb2c7012c2931709ce53
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_23.obj
@@ -0,0 +1,451 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_24.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c359e84a19b75f8f2aee2f83c06441c553b808e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_24.obj
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diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_25.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47fe3d77cd113f491ea6c2b0a11a32d7ea35cc63
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_25.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_26.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e73358ad5d102544431642b1396358217e025810
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_26.obj
@@ -0,0 +1,493 @@
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+
diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_27.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae17571441567d7db5a87dbac13bf508fc89ba9d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_27.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_28.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ece71e0f8b053d8fe272276faef7db96ef68976
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_28.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_29.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d12dfa2f1a242d0fbd53513c6bed72313f59a947
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_29.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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+f 90 111 112
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+
diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_3.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0662fa338681ffe41d90124735f40af492a9122
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_3.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.05052732 -0.06551770 0.01951991
+v 0.05135523 -0.06551770 0.01949890
+v 0.05289760 -0.06397194 0.01952991
+v 0.05052732 -0.06397194 0.01958992
+v 0.05052732 -0.06551767 0.01217952
+v 0.05430301 -0.06551770 0.01898988
+v 0.05505514 -0.06463494 0.01906288
+v 0.05505514 -0.06430626 0.01913188
+v 0.05505514 -0.06397194 0.01920190
+v 0.05505514 -0.06181107 0.01953291
+v 0.05052732 -0.06361978 0.01959892
+v 0.05052732 -0.05592380 0.00938340
+v 0.05099889 -0.06551767 0.01071644
+v 0.05505514 -0.06551770 0.01877687
+v 0.05505514 -0.06124666 0.01954593
+v 0.05505514 -0.05908673 0.01959293
+v 0.05505514 -0.05646288 0.01944893
+v 0.05505514 -0.05636052 0.01944293
+v 0.05052732 -0.06124666 0.01945092
+v 0.05505381 -0.05592382 0.01367363
+v 0.05505514 -0.06198007 0.01016442
+v 0.05505514 -0.06402262 0.00955838
+v 0.05300751 -0.06551767 0.00973039
+v 0.05125374 -0.06551767 0.01024242
+v 0.05052732 -0.05592383 0.01767684
+v 0.05505514 -0.06551767 0.00978139
+v 0.05052732 -0.06089450 0.01942692
+v 0.05505514 -0.05592384 0.01934993
+v 0.05505514 -0.05592382 0.01463068
+v 0.05505514 -0.05592851 0.01367363
+v 0.05052732 -0.05611823 0.01779884
+v 0.05126880 -0.05592384 0.01826387
+v 0.05257849 -0.05592384 0.01878190
+v 0.05052732 -0.05806217 0.01877690
+v 0.05052732 -0.05754567 0.01860689
+v 0.05097895 -0.05655773 0.01843188
+v 0.05232852 -0.05592384 0.01869389
+v 0.05052732 -0.05797953 0.01875289
+v 0.05052732 -0.05802743 0.01876890
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 19
+f 1 19 27
+f 1 27 34
+f 1 34 39
+f 1 39 38
+f 1 38 35
+f 1 35 31
+f 1 31 25
+f 1 25 12
+f 1 12 5
+f 1 5 13
+f 1 13 24
+f 1 24 23
+f 1 23 26
+f 1 26 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 5 12 13
+f 6 14 7
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+f 7 26 22
+f 7 22 21
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+f 7 29 28
+f 7 28 18
+f 7 18 17
+f 7 17 16
+f 7 16 15
+f 7 15 10
+f 7 10 9
+f 7 9 8
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+f 11 15 16
+f 11 16 17
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+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 13
+f 12 25 32
+f 12 32 37
+f 12 37 33
+f 12 33 28
+f 12 28 29
+f 12 29 20
+f 18 27 19
+f 18 28 27
+f 20 29 30
+f 20 30 21
+f 22 26 23
+f 25 31 32
+f 27 28 33
+f 27 33 34
+f 31 35 36
+f 31 36 32
+f 32 36 37
+f 33 37 35
+f 33 35 38
+f 33 38 39
+f 33 39 34
+f 35 37 36
+
diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_30.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31243b3d325e10f9e35c908b42d3816f55265992
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_30.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.04236457 -0.07214880 0.00948703
+v -0.03986404 -0.07203998 0.00973613
+v -0.03986404 -0.07452013 0.00979204
+v -0.04495823 -0.07218318 0.00980526
+v -0.04807028 -0.06968928 0.00971885
+v -0.04883994 -0.06875450 0.00965074
+v -0.04883994 -0.06675778 0.00978392
+v -0.03986404 -0.07188075 0.00977070
+v -0.03986404 -0.07479278 0.00986219
+v -0.04236457 -0.07401494 0.00996894
+v -0.04733839 -0.07129651 0.00999539
+v -0.04883994 -0.06944757 0.00977070
+v -0.04883994 -0.06610595 0.00995372
+v -0.03986404 -0.06418942 0.01144927
+v -0.03986404 -0.07578942 0.01169629
+v -0.04396716 -0.07364263 0.01025463
+v -0.04883994 -0.07098148 0.01079756
+v -0.04883994 -0.07045910 0.01028108
+v -0.04883994 -0.06560649 0.01024145
+v -0.04883994 -0.06418943 0.01294178
+v -0.03986404 -0.06418945 0.01860271
+v -0.03986404 -0.07589139 0.01428173
+v -0.04002746 -0.07582150 0.01428173
+v -0.03993081 -0.07575964 0.01169629
+v -0.04236457 -0.07464615 0.01169630
+v -0.04418505 -0.07376062 0.01169630
+v -0.04554514 -0.07298851 0.01169630
+v -0.04807028 -0.07149240 0.01150212
+v -0.04883994 -0.07107084 0.01197793
+v -0.04883994 -0.06418945 0.01984206
+v -0.04047204 -0.06418945 0.01878266
+v -0.03986404 -0.06435441 0.01872369
+v -0.03986404 -0.07587764 0.01449422
+v -0.04236457 -0.07475384 0.01428174
+v -0.04426852 -0.07380646 0.01428174
+v -0.04562861 -0.07305153 0.01428174
+v -0.04883994 -0.07110865 0.01282077
+v -0.04883994 -0.06669939 0.01972614
+v -0.04780757 -0.06669939 0.01985526
+v -0.04508563 -0.06669939 0.01987356
+v -0.04780757 -0.06418945 0.01984816
+v -0.04508563 -0.06418945 0.01963262
+v -0.03986404 -0.06669939 0.01954720
+v -0.03986404 -0.07561989 0.01699528
+v -0.04236457 -0.07449839 0.01686719
+v -0.04403832 -0.07368160 0.01686719
+v -0.04539842 -0.07291063 0.01686719
+v -0.04883994 -0.07102159 0.01615145
+v -0.04780757 -0.07176964 0.01428175
+v -0.04883994 -0.07113958 0.01428175
+v -0.04883994 -0.06932388 0.01890059
+v -0.04796484 -0.06961829 0.01903072
+v -0.04508563 -0.06942469 0.01971190
+v -0.04236457 -0.06942469 0.01986440
+v -0.03986404 -0.06942469 0.01985220
+v -0.04236457 -0.06669939 0.01976681
+v -0.03986404 -0.07446288 0.01882839
+v -0.04236457 -0.07388781 0.01848983
+v -0.04378968 -0.07354643 0.01819905
+v -0.04883994 -0.07076040 0.01747518
+v -0.04796484 -0.07142483 0.01678078
+v -0.04883994 -0.07069740 0.01765615
+v -0.04716355 -0.07120604 0.01852339
+v -0.04485192 -0.07212822 0.01872673
+v -0.04236457 -0.07214884 0.01932860
+v -0.03986404 -0.07214884 0.01969257
+f 1 2 3
+f 1 3 4
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+f 1 7 2
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+f 2 14 21
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+f 2 32 43
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+
diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_31.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..320fc1e2cdae6a9db830c6dd69c7b047e61339c9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_31.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.04883994 -0.04671839 0.00921343
+v -0.03986404 -0.05779954 0.01225729
+v -0.03986404 -0.05510961 0.00921340
+v -0.04883994 -0.05650159 0.00921339
+v -0.04883994 -0.05712238 0.01816352
+v -0.03986404 -0.06299127 0.01776906
+v -0.03986404 -0.06174463 0.01647511
+v -0.03986404 -0.05915561 0.01373279
+v -0.03986404 -0.06244572 0.00921337
+v -0.04763537 -0.05748487 0.00921339
+v -0.04883994 -0.06418829 0.01294180
+v -0.04883994 -0.05734298 0.01831170
+v -0.03986404 -0.06418831 0.01860281
+v -0.03986404 -0.06418828 0.01144854
+v -0.04215282 -0.06110505 0.00921338
+v -0.04746931 -0.05761313 0.00921339
+v -0.04528156 -0.05911455 0.00921338
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+v -0.04222135 -0.06106230 0.00921338
+v -0.04883994 -0.06418831 0.01984145
+v -0.04883994 -0.05861183 0.01885849
+v -0.04047204 -0.06418831 0.01878229
+v -0.04780757 -0.06418831 0.01984771
+v -0.04883994 -0.06397113 0.01987381
+v -0.04883994 -0.06124531 0.01959833
+v -0.04780757 -0.06124531 0.01944702
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+v -0.04508563 -0.06418831 0.01963275
+v -0.04780757 -0.06397113 0.01984772
+f 1 2 3
+f 1 3 9
+f 1 9 15
+f 1 15 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 10
+f 1 10 4
+f 1 4 11
+f 1 11 20
+f 1 20 24
+f 1 24 25
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+f 1 21 12
+f 1 12 5
+f 1 5 6
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+f 11 23 20
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+f 23 28 29
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+f 25 27 26
+f 27 29 28
+
diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_32.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10d87d2ec2f893c019316136503be90fec9ba6dd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_32.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v 0.06106373 -0.05034415 0.01959368
+v 0.06106373 -0.04761884 0.01953629
+v 0.05834209 -0.05306946 0.01953330
+v 0.05821389 -0.05592384 0.01958474
+v 0.05834209 -0.05579477 0.01958376
+v 0.06106373 -0.05306946 0.01955507
+v 0.06378428 -0.04761884 0.01956202
+v 0.06378428 -0.04695419 0.01956796
+v 0.06172648 -0.04695419 0.01954916
+v 0.06106373 -0.04695419 0.01949770
+v 0.05798898 -0.05342154 0.01952241
+v 0.05798898 -0.05592384 0.01957386
+v 0.05834209 -0.05592384 0.01957979
+v 0.06093552 -0.05592384 0.01937791
+v 0.06106373 -0.05579477 0.01937199
+v 0.06378428 -0.05034415 0.01941951
+v 0.06444703 -0.04695419 0.01949770
+v 0.05859633 -0.04695419 0.01891482
+v 0.05834209 -0.05034415 0.01935122
+v 0.05798898 -0.05069711 0.01931361
+v 0.05798898 -0.05592382 0.01372333
+v 0.06106807 -0.05592384 0.01934526
+v 0.06378428 -0.05306946 0.01906522
+v 0.06665801 -0.04695419 0.01895638
+v 0.05819650 -0.04695419 0.01879310
+v 0.05798898 -0.04751084 0.01880794
+v 0.05798898 -0.04695416 0.01161353
+v 0.06098985 -0.05592381 0.00975304
+v 0.06340075 -0.05592384 0.01860405
+v 0.06371691 -0.05554630 0.01857635
+v 0.06545311 -0.05306946 0.01839526
+v 0.06604090 -0.05034415 0.01869413
+v 0.06671777 -0.04776986 0.01882179
+v 0.06719908 -0.04695419 0.01875450
+v 0.05798898 -0.04695419 0.01866148
+v 0.05798898 -0.04727993 0.01875549
+v 0.05798898 -0.04742831 0.01879112
+v 0.06104091 -0.05589132 0.00973919
+v 0.06646462 -0.04695416 0.00954328
+v 0.06458284 -0.04761881 0.00989954
+v 0.06104417 -0.05592381 0.00973820
+v 0.06355068 -0.05592384 0.01854764
+v 0.06516737 -0.05447250 0.01818149
+v 0.06810630 -0.04696209 0.01837351
+v 0.06810738 -0.04695419 0.01837450
+v 0.06378428 -0.05306942 0.00949180
+v 0.06837574 -0.04695416 0.00992230
+v 0.06650591 -0.04761880 0.00948490
+v 0.06377558 -0.05592381 0.00976393
+v 0.06460240 -0.05592383 0.01704245
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+v 0.06533359 -0.05478418 0.01686730
+v 0.06613107 -0.05306945 0.01686731
+v 0.06801720 -0.04934410 0.01619538
+v 0.06776623 -0.04877868 0.01791927
+v 0.06866692 -0.04695418 0.01694848
+v 0.06385055 -0.05572363 0.00974711
+v 0.06861477 -0.04695416 0.01040424
+v 0.06826927 -0.04761881 0.00998762
+v 0.06660260 -0.05023613 0.00975604
+v 0.06574429 -0.05306943 0.00988765
+v 0.06532925 -0.05476748 0.01019639
+v 0.06498375 -0.05592381 0.01169662
+v 0.06494681 -0.05592383 0.01513153
+v 0.06551938 -0.05511869 0.01428246
+v 0.06655372 -0.05306944 0.01428247
+v 0.06506958 -0.05592382 0.01428245
+v 0.06811390 -0.04958027 0.01428248
+v 0.06885923 -0.04761882 0.01428249
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+
diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_33.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebd7dc7e061e53bc723b2e8b3a75072d3ef5c7d2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_33.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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+v 0.02567967 0.07776651 0.01952497
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+v 0.01685264 0.07309608 0.01951143
+v 0.01751467 0.07309608 0.01955925
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+
diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_34.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4a47d9c026cb8fc2b19860c9ae31dc38d00fb73
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_34.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v -0.05341349 0.06124911 0.02008345
+v -0.04780584 0.06686375 0.02005901
+v -0.05597239 0.06124911 0.02008345
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+v -0.04983209 0.06755933 0.01995473
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+v -0.05597239 0.06413829 0.01956739
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+v -0.03404504 0.06755933 0.01873316
+v -0.03407448 0.06755933 0.01873848
+v -0.05299592 0.06755933 0.01918539
+v -0.05349646 0.06711332 0.01920987
+v -0.05597239 0.06619288 0.01863419
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+v -0.05894885 0.06166485 0.01922900
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+v -0.04558152 0.06124911 0.01860756
+v -0.03404504 0.06748767 0.01869698
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+v -0.05330642 0.06755933 0.01907686
+v -0.05738567 0.06555291 0.01821494
+v -0.05500879 0.06755933 0.01813195
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+
diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_35.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b1b0bac4fd50b8081d1a588107ab324988bd171
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_35.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.04192604 -0.06950854 0.01959946
+v 0.04192604 -0.06942396 0.01959946
+v 0.03789578 -0.07081876 0.01958421
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+v 0.04192604 -0.07081876 0.01951913
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+v 0.03673223 -0.06551766 0.00921336
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+v 0.04192604 -0.06551768 0.01274454
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+v 0.03373576 -0.06681335 0.00921335
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+v 0.04054297 -0.06551770 0.01885217
+v 0.03087878 -0.06926725 0.01873930
+v 0.03087878 -0.06683361 0.01677798
+v 0.03312695 -0.06551769 0.01617709
+v 0.03851973 -0.06551770 0.01843835
+v 0.03189743 -0.06788543 0.01829599
+v 0.03087878 -0.06905295 0.01862440
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+v 0.03512964 -0.06551769 0.01707488
+v 0.03087878 -0.06722590 0.01722230
+f 1 2 3
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+f 1 27 23
+f 1 23 10
+f 1 10 6
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+f 35 41 36
+f 35 38 41
+f 37 41 38
+
diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_36.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ee949389dd56a97e26e1ae7321be11f9ba6af34
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_36.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.05388660 -0.03504915 0.00921347
+v 0.04870377 -0.04695415 0.00921343
+v 0.05418333 -0.03504916 0.00959187
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+v 0.05929768 -0.03504918 0.01606432
+v 0.05752300 -0.03504917 0.01383752
+v 0.05606929 -0.04695415 0.00921343
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+v 0.06327647 -0.04695417 0.01351284
+v 0.06030344 -0.03649882 0.00921347
+v 0.05561564 -0.04695418 0.01694283
+v 0.06000385 -0.03504918 0.01685360
+v 0.05669557 -0.04556042 0.00921343
+v 0.06327647 -0.03504919 0.01907026
+v 0.05698232 -0.04489152 0.00921344
+v 0.05723910 -0.04427856 0.00921344
+v 0.05780404 -0.04291163 0.00921344
+v 0.05810933 -0.04216465 0.00921345
+v 0.05819921 -0.04194324 0.00921345
+v 0.05907371 -0.03974193 0.00921345
+v 0.05910224 -0.03966968 0.00921345
+v 0.05975848 -0.03796597 0.00921346
+v 0.06327647 -0.04695419 0.01956326
+v 0.05608213 -0.04695418 0.01744906
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+v 0.06292553 -0.03504919 0.01895765
+v 0.05819492 -0.04695419 0.01879225
+v 0.05859437 -0.04695419 0.01891399
+v 0.06106239 -0.04489156 0.01937762
+v 0.06327647 -0.03720272 0.01923967
+v 0.06327647 -0.04539964 0.01957645
+v 0.06172576 -0.04695419 0.01954906
+v 0.05686676 -0.04695419 0.01823124
+v 0.05701228 -0.04630860 0.01813689
+v 0.06182276 -0.03504919 0.01853664
+v 0.06106239 -0.04695419 0.01949833
+v 0.06327647 -0.03994940 0.01941618
+v 0.06327647 -0.04267394 0.01952675
+f 1 2 3
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+f 1 7 6
+f 1 6 13
+f 1 13 26
+f 1 26 36
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+f 1 27 15
+f 1 15 9
+f 1 9 4
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+f 1 14 8
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+f 8 14 10
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+f 12 25 26
+f 12 26 13
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+f 15 30 31
+f 24 32 33
+f 25 34 35
+f 25 35 26
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+f 26 34 36
+f 27 36 28
+f 28 36 34
+f 29 37 30
+f 30 37 38
+f 30 38 31
+f 32 39 33
+f 33 39 37
+f 37 39 38
+
diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_37.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60af137f3c7c157cd54d096928e82b14aa7caa8d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_37.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.02875440 0.07504150 0.02006655
+v -0.03147659 0.07504150 0.02004911
+v -0.03349709 0.07301747 0.02001522
+v -0.02603441 0.07504150 0.02005629
+v -0.02282796 0.07552773 0.02003987
+v -0.02282796 0.07776686 0.01999574
+v -0.03404504 0.07504150 0.01997212
+v -0.03404504 0.07301747 0.01999880
+v -0.02331222 0.07776686 0.01998137
+v -0.03077600 0.07301747 0.01997827
+v -0.02282796 0.07504150 0.02003166
+v -0.02331222 0.07504150 0.02003576
+v -0.02282796 0.07821765 0.01982125
+v -0.03404504 0.07521539 0.01991259
+v -0.02603441 0.07776686 0.01984075
+v -0.02875440 0.07776686 0.01959851
+v -0.03404504 0.07301749 0.01354759
+v -0.02805491 0.07301747 0.01990847
+v -0.02533273 0.07301747 0.01979556
+v -0.02282796 0.07301747 0.01967239
+v -0.02282796 0.08010488 0.01901548
+v -0.03404504 0.07745946 0.01901547
+v -0.02331222 0.08006367 0.01900111
+v -0.02875440 0.07954201 0.01863570
+v -0.02603441 0.07981808 0.01886562
+v -0.03404504 0.07543464 0.00970869
+v -0.02282796 0.07301749 0.01348703
+v -0.02282796 0.08033563 0.01863366
+v -0.03404504 0.07757896 0.01886459
+v -0.03075074 0.07930466 0.01838217
+v -0.02282796 0.08125288 0.01686714
+v -0.02331222 0.08117129 0.01686714
+v -0.03404504 0.07751058 0.00970664
+v -0.02875440 0.07776689 0.00958142
+v -0.02331222 0.07802236 0.00963069
+v -0.02282796 0.07806522 0.00963685
+v -0.02682175 0.07631232 0.01027632
+v -0.03404504 0.07864867 0.01675525
+v -0.03256480 0.07903766 0.01743579
+v -0.02603441 0.08066528 0.01686714
+v -0.02875440 0.08008758 0.01686713
+v -0.02282796 0.08143667 0.01428255
+v -0.02331222 0.08135673 0.01428255
+v -0.03404504 0.07824735 0.01100511
+v -0.03270646 0.07906487 0.01108722
+v -0.03089130 0.07934507 0.01014186
+v -0.02875440 0.07962609 0.00987088
+v -0.02603441 0.07992690 0.00967996
+v -0.02331222 0.08016754 0.00963069
+v -0.02282796 0.07982800 0.00963685
+v -0.03404504 0.07867175 0.01669674
+v -0.03158530 0.07939532 0.01669059
+v -0.03288325 0.07914314 0.01571136
+v -0.03395390 0.07870059 0.01669059
+v -0.02603441 0.08084660 0.01428255
+v -0.02875440 0.08023346 0.01428254
+v -0.02282796 0.08142513 0.01373957
+v -0.02331222 0.08128751 0.01169694
+v -0.02603441 0.08079717 0.01169694
+v -0.02282796 0.08137075 0.01169694
+v -0.03404504 0.07871297 0.01184268
+v -0.03286897 0.07913903 0.01281062
+v -0.03166985 0.07941924 0.01184782
+v -0.02875440 0.08018484 0.01169693
+v -0.02282796 0.08025407 0.00965738
+v -0.03404504 0.07871213 0.01596899
+v -0.03147659 0.07953048 0.01428254
+v -0.03289533 0.07914727 0.01428254
+v -0.03404504 0.07880197 0.01428254
+v -0.03404504 0.07879950 0.01405775
+f 1 2 3
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+f 1 6 2
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+
diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_38.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a605980d1b32fcea579d7d42b5d1ecbaa809408a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_38.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.02282396 0.07518203 0.01319937
+v -0.02306502 0.06989894 0.00921492
+v -0.03404174 0.07301492 0.01354781
+v -0.02282396 0.07518201 0.02003391
+v -0.00154089 0.07518203 0.01306804
+v -0.00154089 0.07219614 0.00921387
+v -0.00426195 0.07210891 0.00921386
+v -0.00698301 0.07195739 0.00921386
+v -0.00948282 0.07175384 0.00921386
+v -0.00978994 0.07172782 0.00921386
+v -0.01242514 0.07149061 0.00921386
+v -0.01448245 0.07129930 0.00921386
+v -0.01514620 0.07123502 0.00921386
+v -0.01675440 0.07103759 0.00921386
+v -0.01786396 0.07088455 0.00921386
+v -0.01894050 0.07070395 0.00921386
+v -0.02058833 0.07041776 0.00921386
+v -0.02086241 0.07036572 0.00921386
+v -0.02282396 0.06994944 0.00921386
+v -0.02415147 0.06963264 0.00921492
+v -0.02875152 0.06844194 0.00921491
+v -0.02977521 0.06814810 0.00921491
+v -0.03158485 0.06757571 0.00921491
+v -0.03164429 0.06755581 0.00921491
+v -0.03404174 0.06671254 0.00921491
+v -0.03404174 0.07301490 0.01999789
+v -0.02630124 0.06910310 0.00921491
+v -0.02829250 0.06857203 0.00921491
+v -0.02282396 0.07503968 0.02003179
+v -0.02044633 0.07518201 0.02001802
+v -0.03349687 0.07301490 0.02001483
+v -0.00108187 0.07518203 0.01306910
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+v -0.02282396 0.06296905 0.00921383
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+v -0.03404174 0.07246852 0.02000530
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+v -0.00031245 0.06554939 0.01034498
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+v -0.03404174 0.06509329 0.01620936
+v -0.00031245 0.07133599 0.01772499
+v -0.03404174 0.06958822 0.01958270
+v -0.00031245 0.07375410 0.01927874
+v -0.03404174 0.06612022 0.01742842
+v -0.00031245 0.07195123 0.01823973
+v -0.03404174 0.06748690 0.01869620
+v -0.03404174 0.06620440 0.01752586
+v -0.03404174 0.06758179 0.01874280
+v -0.00031245 0.07269809 0.01885933
+f 1 2 3
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+f 1 4 30
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+f 1 40 33
+f 1 33 32
+f 1 32 5
+f 1 5 6
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+f 55 59 56
+f 56 59 58
+
diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_39.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdc89def4afaab639db71d8c7d8b13c3c4bc4551
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_39.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.05105713 0.04169643 0.00921375
+v 0.05161300 0.04169642 0.00992272
+v 0.05820904 0.04169643 0.00921375
+v 0.05574888 0.02822869 0.00921370
+v 0.05800482 0.02822867 0.01225366
+v 0.05912873 0.02822867 0.01374208
+v 0.06010927 0.02822866 0.01503381
+v 0.06034596 0.02822866 0.01534306
+v 0.05298847 0.04169642 0.01167201
+v 0.05894208 0.03979394 0.00921375
+v 0.06487271 0.04169642 0.01198337
+v 0.06235304 0.02822869 0.00921370
+v 0.06161053 0.02822866 0.01690617
+v 0.05349024 0.04169641 0.01228947
+v 0.05895155 0.03976889 0.00921375
+v 0.06487271 0.04169639 0.01993040
+v 0.06487271 0.02822867 0.01268493
+v 0.06225295 0.02870464 0.00921371
+v 0.06165516 0.03122547 0.00921371
+v 0.06161323 0.03140214 0.00921372
+v 0.06159970 0.03145488 0.00921372
+v 0.06082609 0.03421831 0.00921373
+v 0.06073683 0.03453209 0.00921373
+v 0.05997132 0.03688021 0.00921374
+v 0.05897049 0.03971615 0.00921375
+v 0.06228541 0.02822865 0.01769614
+v 0.05659012 0.04169640 0.01601948
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diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_4.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8402cd292f1c966d33ec9fb22d42e3e2c0b1d2f1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_4.obj
@@ -0,0 +1,526 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_40.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..111efbe22eca95ccfd6f235e81125aae3b713ada
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_40.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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+v 0.05232787 -0.05592384 0.01869362
+v 0.05126739 -0.05592384 0.01826362
+f 1 2 15
+f 1 15 22
+f 1 22 27
+f 1 27 33
+f 1 33 24
+f 1 24 19
+f 1 19 3
+f 1 3 4
+f 1 4 20
+f 1 20 25
+f 1 25 34
+f 1 34 35
+f 1 35 29
+f 1 29 23
+f 1 23 16
+f 1 16 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 2 14 15
+f 2 16 17
+f 2 17 18
+f 2 18 5
+f 3 19 20
+f 3 20 4
+f 5 18 17
+f 5 17 16
+f 5 16 23
+f 5 23 21
+f 5 21 12
+f 5 12 11
+f 5 11 10
+f 5 10 9
+f 5 9 8
+f 5 8 7
+f 5 7 6
+f 12 21 26
+f 12 26 32
+f 12 32 31
+f 12 31 30
+f 12 30 28
+f 12 28 22
+f 12 22 15
+f 12 15 14
+f 12 14 13
+f 19 24 25
+f 19 25 20
+f 21 23 26
+f 22 28 27
+f 23 29 30
+f 23 30 31
+f 23 31 32
+f 23 32 26
+f 24 33 25
+f 25 33 34
+f 27 28 34
+f 27 34 33
+f 28 30 34
+f 29 35 30
+f 30 35 34
+
diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_41.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d58c62bf934371a64876cb7a92184d7922d5cfe3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_41.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.05352884 -0.03590814 0.00921451
+v -0.05552083 -0.03590815 0.01170790
+v -0.06026415 -0.03590814 0.00921451
+v -0.05910264 -0.00377249 0.00921463
+v -0.06472290 -0.00377252 0.01661406
+v -0.06571890 -0.00377253 0.01790689
+v -0.05694514 -0.03590816 0.01346627
+v -0.06628949 -0.03590816 0.01330270
+v -0.06086959 -0.03403335 0.00921451
+v -0.06570002 -0.00377249 0.00921463
+v -0.06583505 -0.00377253 0.01799811
+v -0.06087249 -0.03590818 0.01809026
+v -0.06046887 -0.03590818 0.01769916
+v -0.06014074 -0.03590817 0.01731645
+v -0.05936398 -0.03590817 0.01640633
+v -0.05840573 -0.03590817 0.01525191
+v -0.06297628 -0.02581070 0.00921455
+v -0.06235923 -0.02853796 0.00921454
+v -0.06185106 -0.03057632 0.00921453
+v -0.06174653 -0.03099154 0.00921453
+v -0.06171314 -0.03112365 0.00921453
+v -0.06092621 -0.03384776 0.00921452
+v -0.06628949 -0.03590818 0.01992518
+v -0.06835989 -0.02369058 0.01377668
+v -0.06835989 -0.01224995 0.01223645
+v -0.06458788 -0.01748110 0.00921458
+v -0.06456900 -0.01761322 0.00921458
+v -0.06433525 -0.01902560 0.00921457
+v -0.06411166 -0.02035935 0.00921457
+v -0.06355849 -0.02309918 0.00921456
+v -0.06569567 -0.00400841 0.00921463
+v -0.06835989 -0.00955730 0.01209070
+v -0.06835989 -0.00377250 0.01224696
+v -0.06707932 -0.00377253 0.01895856
+v -0.06182783 -0.03590818 0.01880640
+v -0.06413779 -0.03590818 0.01972491
+v -0.06628949 -0.03398621 0.01991575
+v -0.06835989 -0.02369060 0.01985601
+v -0.06562452 -0.00673252 0.00921462
+v -0.06545610 -0.00945977 0.00921461
+v -0.06520057 -0.01218703 0.00921460
+v -0.06491310 -0.01491113 0.00921459
+v -0.06466047 -0.01691175 0.00921458
+v -0.06835989 -0.00377253 0.01945031
+v -0.06835989 -0.02308349 0.01985288
+f 1 2 7
+f 1 7 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 12
+f 1 12 35
+f 1 35 36
+f 1 36 23
+f 1 23 8
+f 1 8 3
+f 1 3 9
+f 1 9 22
+f 1 22 21
+f 1 21 20
+f 1 20 19
+f 1 19 18
+f 1 18 17
+f 1 17 30
+f 1 30 29
+f 1 29 28
+f 1 28 27
+f 1 27 26
+f 1 26 43
+f 1 43 42
+f 1 42 41
+f 1 41 40
+f 1 40 39
+f 1 39 31
+f 1 31 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 4 10 33
+f 4 33 44
+f 4 44 34
+f 4 34 11
+f 4 11 6
+f 4 6 5
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 22
+f 8 22 9
+f 8 23 38
+f 8 38 24
+f 8 24 25
+f 8 25 26
+f 8 26 27
+f 8 27 28
+f 8 28 29
+f 8 29 30
+f 8 30 17
+f 10 31 32
+f 10 32 33
+f 11 34 12
+f 12 34 35
+f 23 36 37
+f 23 37 38
+f 24 38 45
+f 24 45 44
+f 24 44 33
+f 24 33 32
+f 24 32 25
+f 25 32 39
+f 25 39 40
+f 25 40 41
+f 25 41 42
+f 25 42 43
+f 25 43 26
+f 31 39 32
+f 34 44 36
+f 34 36 35
+f 36 44 37
+f 37 44 45
+f 37 45 38
+
diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_42.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6ed866e32dfee3e1937dd22e29b93ca2c7a7033
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_42.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.05279439 0.03879202 0.00921480
+v -0.05940076 0.03879202 0.00921480
+v -0.05685637 0.03879200 0.01457245
+v -0.06220604 0.02469276 0.01634406
+v -0.05695969 0.02469279 0.00921475
+v -0.06598645 0.03879200 0.01354849
+v -0.05981406 0.03763963 0.00921480
+v -0.05747632 0.03879199 0.01538415
+v -0.06267230 0.02469276 0.01695310
+v -0.06330774 0.02469279 0.00921475
+v -0.06598645 0.03879198 0.02011036
+v -0.06029323 0.03622363 0.00921479
+v -0.06098680 0.03408584 0.00921479
+v -0.06106300 0.03383052 0.00921478
+v -0.06176174 0.03142498 0.00921478
+v -0.06179016 0.03132285 0.00921478
+v -0.06233261 0.02918920 0.00921477
+v -0.06244239 0.02870340 0.00921477
+v -0.06273687 0.02739229 0.00921476
+v -0.06304168 0.02597767 0.00921476
+v -0.06598645 0.02850602 0.01298954
+v -0.05858836 0.03879199 0.01680276
+v -0.06320183 0.02469276 0.01763681
+v -0.06598645 0.02469277 0.01282207
+v -0.06495062 0.03879198 0.02007303
+v -0.06598645 0.03775414 0.02010822
+v -0.05986443 0.03879198 0.01832803
+v -0.06284407 0.02756062 0.01809013
+v -0.06456185 0.02469275 0.01883783
+v -0.06598645 0.02469275 0.01945433
+v -0.06413822 0.03879198 0.02000796
+v -0.06598645 0.03502842 0.02005275
+v -0.06022219 0.03879198 0.01856269
+v -0.06556798 0.02469275 0.01928687
+v -0.06137685 0.03879198 0.01916639
+v -0.06598645 0.02957835 0.01981061
+v -0.06222929 0.03879198 0.01950238
+v -0.06413822 0.03415480 0.01972850
+v -0.06598645 0.03230269 0.01995461
+v -0.06413822 0.03688053 0.01992156
+f 1 2 6
+f 1 6 11
+f 1 11 25
+f 1 25 31
+f 1 31 37
+f 1 37 35
+f 1 35 33
+f 1 33 27
+f 1 27 22
+f 1 22 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 20
+f 1 20 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 12
+f 1 12 7
+f 1 7 2
+f 2 7 6
+f 3 8 4
+f 4 9 23
+f 4 23 29
+f 4 29 34
+f 4 34 30
+f 4 30 24
+f 4 24 10
+f 4 10 5
+f 4 8 9
+f 6 7 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 10
+f 6 10 21
+f 6 21 24
+f 6 24 30
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+f 6 36 39
+f 6 39 32
+f 6 32 26
+f 6 26 11
+f 8 22 23
+f 8 23 9
+f 10 24 21
+f 11 26 25
+f 22 27 23
+f 23 28 29
+f 23 27 28
+f 25 26 32
+f 25 32 31
+f 27 33 29
+f 27 29 28
+f 29 33 35
+f 29 35 34
+f 30 34 35
+f 30 35 37
+f 30 37 38
+f 30 38 36
+f 31 32 39
+f 31 39 40
+f 31 40 37
+f 36 38 40
+f 36 40 39
+f 37 40 38
+
diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_43.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2988c97cdf1588116623dd2a427874036e29154b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_43.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v 0.06378519 0.04169639 0.01995918
+v 0.06650573 0.04169639 0.01993193
+v 0.06378519 0.04233298 0.01998331
+v 0.06106360 0.04778299 0.01998438
+v 0.05942596 0.05050907 0.01994245
+v 0.06106360 0.04505799 0.01980090
+v 0.06106360 0.04233298 0.01950735
+v 0.06100940 0.04169639 0.01938154
+v 0.06650573 0.04233298 0.01990992
+v 0.06378519 0.04778299 0.01999800
+v 0.06378519 0.04505799 0.02003469
+v 0.06895103 0.04169639 0.01896953
+v 0.06106360 0.05050907 0.02007035
+v 0.05942596 0.05275663 0.01999382
+v 0.05942596 0.04778299 0.01967406
+v 0.05942596 0.04233298 0.01881647
+v 0.05942596 0.04179599 0.01871163
+v 0.05942596 0.04169639 0.01869171
+v 0.06378519 0.05050907 0.01968351
+v 0.06650573 0.04505799 0.01958599
+v 0.06106360 0.05275663 0.02000535
+v 0.06880331 0.04233298 0.01895486
+v 0.06943669 0.04169639 0.01816438
+v 0.05942596 0.05275665 0.01298653
+v 0.05942596 0.04169642 0.01071887
+v 0.06660669 0.04768880 0.01896012
+v 0.06573314 0.05050907 0.01871691
+v 0.06382239 0.05275663 0.01906287
+v 0.06831766 0.04505799 0.01863407
+v 0.07011470 0.04169640 0.01686755
+v 0.06002001 0.05275666 0.01147374
+v 0.06116774 0.05275666 0.00972192
+v 0.06151312 0.05275666 0.00961498
+v 0.06378519 0.05050911 0.00939273
+v 0.06650573 0.04505803 0.00936126
+v 0.06655037 0.04169642 0.00969148
+v 0.06799672 0.04671767 0.01832270
+v 0.06530912 0.05215685 0.01835837
+v 0.06440051 0.05275663 0.01872739
+v 0.06989472 0.04233299 0.01686756
+v 0.07018909 0.04169640 0.01572693
+v 0.06383833 0.05275666 0.00963805
+v 0.06662157 0.04773971 0.00967368
+v 0.06887239 0.04233301 0.00964850
+v 0.06901586 0.04169642 0.00966002
+v 0.06716249 0.04169642 0.00968204
+v 0.06891278 0.04505800 0.01686757
+v 0.06813274 0.04702299 0.01686757
+v 0.06751319 0.04838494 0.01686758
+v 0.06646535 0.05050908 0.01686759
+v 0.06545897 0.05241236 0.01686759
+v 0.06525280 0.05275664 0.01686759
+v 0.07028261 0.04169641 0.01428228
+v 0.07006156 0.04233300 0.01428229
+v 0.06415289 0.05275666 0.00970619
+v 0.06578628 0.05050910 0.00983095
+v 0.06838673 0.04505802 0.00987601
+v 0.07019972 0.04169642 0.01169700
+v 0.06906581 0.04505801 0.01428230
+v 0.06820501 0.04717890 0.01428230
+v 0.06758651 0.04853977 0.01428231
+v 0.06660775 0.05050909 0.01428232
+v 0.06552698 0.05252280 0.01428232
+v 0.06536226 0.05275665 0.01476352
+v 0.07024860 0.04169641 0.01320980
+v 0.06997655 0.04233301 0.01169701
+v 0.06899035 0.04505802 0.01169702
+v 0.06451209 0.05275666 0.00989280
+v 0.06535376 0.05222508 0.01015909
+v 0.06804029 0.04680323 0.01018632
+v 0.06816675 0.04708472 0.01169702
+v 0.06753019 0.04844668 0.01169703
+v 0.06651636 0.05050910 0.01169704
+v 0.06549297 0.05246110 0.01169704
+v 0.06538670 0.05275665 0.01428232
+v 0.06512315 0.05275666 0.01066964
+v 0.06531231 0.05275666 0.01169704
+v 0.06532932 0.05275666 0.01223276
+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 18
+f 1 18 25
+f 1 25 36
+f 1 36 46
+f 1 46 45
+f 1 45 58
+f 1 58 65
+f 1 65 53
+f 1 53 41
+f 1 41 30
+f 1 30 23
+f 1 23 12
+f 1 12 2
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 2 12 9
+f 3 11 13
+f 3 13 4
+f 4 13 5
+f 5 13 14
+f 5 14 24
+f 5 24 25
+f 5 25 18
+f 5 18 17
+f 5 17 16
+f 5 16 15
+f 5 15 6
+f 6 15 7
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+f 8 17 18
+f 9 19 10
+f 9 12 20
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+f 10 21 13
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+f 10 19 21
+f 12 22 20
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+f 13 21 14
+f 14 21 28
+f 14 28 39
+f 14 39 52
+f 14 52 64
+f 14 64 75
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+f 14 77 76
+f 14 76 68
+f 14 68 55
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+f 14 33 32
+f 14 32 31
+f 14 31 24
+f 19 20 26
+f 19 26 27
+f 19 27 28
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+f 20 22 29
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+f 22 23 29
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+f 24 31 25
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+f 26 29 27
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+f 27 39 28
+f 29 30 37
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+f 30 41 40
+f 33 42 34
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+f 37 40 47
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+f 38 50 51
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+f 40 41 53
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+f 40 54 47
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+f 49 61 50
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+f 50 62 51
+f 51 62 63
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+f 51 64 52
+f 53 65 54
+f 54 65 58
+f 54 58 66
+f 54 66 67
+f 54 67 59
+f 55 68 56
+f 56 68 69
+f 56 69 70
+f 56 70 57
+f 57 70 58
+f 58 70 66
+f 59 67 60
+f 60 67 71
+f 60 71 61
+f 61 71 72
+f 61 72 73
+f 61 73 62
+f 62 73 74
+f 62 74 63
+f 63 75 64
+f 63 74 75
+f 66 70 67
+f 67 70 71
+f 68 76 69
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+f 69 74 73
+f 69 73 70
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+f 70 72 71
+f 74 76 77
+f 74 77 78
+f 74 78 75
+
diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_44.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..146af28c7b1a1890c2c6290e6605831612014826
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_44.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v 0.07194992 0.02870463 0.00955039
+v 0.07227258 0.02822868 0.00960051
+v 0.07194992 0.02822868 0.00955549
+v 0.06655140 0.04169642 0.00969162
+v 0.06716312 0.04169642 0.00968242
+v 0.06901684 0.04169642 0.00965991
+v 0.07148936 0.03415501 0.00967319
+v 0.07358088 0.02822868 0.01005888
+v 0.07041090 0.02822868 0.00980003
+v 0.06979652 0.03142982 0.00969978
+v 0.06532796 0.04169642 0.01103911
+v 0.07008471 0.02870463 0.00984813
+v 0.06487271 0.02822867 0.01268429
+v 0.07019962 0.04169642 0.01169700
+v 0.07082283 0.03896464 0.01011213
+v 0.07114549 0.03688020 0.00981848
+v 0.07353491 0.02870463 0.01010698
+v 0.07388850 0.02822868 0.01169695
+v 0.07013863 0.02822868 0.00990030
+v 0.06487271 0.04169642 0.01198246
+v 0.06487271 0.02822865 0.01912195
+v 0.07024912 0.04169641 0.01320921
+v 0.07051344 0.04079989 0.01169700
+v 0.07097400 0.03943664 0.01169699
+v 0.07177224 0.03688020 0.01169699
+v 0.07336519 0.03031179 0.01032082
+v 0.07390353 0.02822867 0.01428245
+v 0.07379569 0.02870463 0.01169696
+v 0.06487271 0.04169639 0.01993029
+v 0.06650720 0.02822865 0.01968468
+v 0.06487271 0.03142979 0.01943608
+v 0.07028183 0.04169641 0.01428250
+v 0.07056118 0.04089085 0.01428250
+v 0.07100405 0.03952760 0.01428250
+v 0.07183323 0.03688019 0.01428249
+v 0.07258108 0.03415500 0.01428248
+v 0.07249092 0.03415501 0.01169698
+v 0.07341292 0.03052274 0.01169696
+v 0.07372851 0.02822866 0.01635740
+v 0.07380895 0.02870462 0.01428246
+v 0.07337226 0.03035001 0.01602488
+v 0.06650720 0.04169639 0.01993131
+v 0.06487271 0.03960536 0.01992927
+v 0.06650720 0.03960536 0.02000293
+v 0.06922900 0.02822865 0.01988317
+v 0.06650720 0.02870460 0.01971027
+v 0.06487271 0.03688017 0.01982285
+v 0.06487271 0.03415498 0.01966425
+v 0.07018901 0.04169640 0.01572616
+v 0.07047543 0.04065352 0.01686698
+v 0.07092538 0.03929027 0.01686697
+v 0.07165997 0.03688018 0.01686697
+v 0.07237070 0.03415499 0.01686696
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+v 0.07168207 0.03142979 0.01898589
+v 0.07138063 0.03415498 0.01888052
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+f 50 70 51
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+
diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_45.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ee492aa44674584270378e2374b577bd5aaee20
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_45.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v -0.06141663 0.05048535 0.02014272
+v -0.06141663 0.05050994 0.02014272
+v -0.06143910 0.05048535 0.02014272
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+v -0.05789041 0.05676578 0.02012455
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+v -0.06141663 0.05323547 0.02012027
+v -0.06413645 0.05048535 0.01996726
+v -0.05869399 0.05048535 0.01990842
+v -0.05869399 0.05050994 0.01991163
+v -0.05516777 0.05676578 0.01996407
+v -0.05597136 0.05676578 0.02002398
+v -0.05869399 0.05676578 0.02010637
+v -0.06413645 0.05050994 0.01996619
+v -0.06061023 0.05676578 0.01993304
+v -0.06416455 0.05048535 0.01995763
+v -0.05583649 0.05048535 0.01894659
+v -0.05244795 0.05676578 0.01936707
+v -0.05325153 0.05676578 0.01955002
+v -0.06141663 0.05596037 0.01988490
+v -0.06440618 0.05350168 0.01919695
+v -0.06643481 0.05050994 0.01895514
+v -0.06145034 0.05676578 0.01965594
+v -0.06644043 0.05048535 0.01895621
+v -0.05580558 0.05048535 0.01893482
+v -0.05022264 0.05676578 0.01847157
+v -0.06309122 0.05676578 0.01895088
+v -0.06371780 0.05596037 0.01889418
+v -0.06655563 0.05048535 0.01873047
+v -0.06593187 0.05277066 0.01860315
+v -0.05577468 0.05048535 0.01891770
+v -0.04997819 0.05676578 0.01832072
+v -0.05427990 0.05132090 0.01841699
+v -0.05453558 0.05048535 0.01818910
+v -0.06347335 0.05676578 0.01873798
+v -0.06755028 0.05048536 0.01673512
+v -0.06549074 0.05458746 0.01811208
+v -0.04942186 0.05676578 0.01790025
+v -0.05338078 0.05048536 0.01692021
+v -0.03900056 0.05676582 0.00921381
+v -0.06428255 0.05676579 0.01700475
+v -0.06756432 0.05048536 0.01652649
+v -0.06612574 0.05350169 0.01709675
+v -0.06488946 0.05577408 0.01709675
+v -0.06558065 0.05474118 0.01638848
+v -0.04639859 0.05048539 0.00921379
+v -0.04947806 0.05676582 0.00921381
+v -0.06444271 0.05676580 0.01428295
+v -0.06481078 0.05618295 0.01428295
+v -0.06770200 0.05048537 0.01438992
+v -0.06642357 0.05323549 0.01428294
+v -0.06562561 0.05481989 0.01428294
+v -0.05430799 0.05048539 0.00921379
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+v -0.06413645 0.05323550 0.00954439
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+v -0.06476583 0.05611840 0.01169702
+v -0.06558627 0.05475534 0.01169701
+v -0.06765986 0.05058743 0.01428293
+v -0.06770481 0.05048537 0.01428293
+v -0.06634209 0.05323550 0.01169701
+v -0.06652191 0.05048538 0.00972626
+v -0.05406916 0.05093114 0.00921379
+v -0.05170618 0.05435510 0.00921380
+v -0.06651629 0.05050997 0.00972626
+v -0.06409711 0.05572246 0.00987499
+v -0.06365318 0.05676581 0.00995417
+v -0.05288908 0.05278176 0.00921379
+v -0.06553008 0.05465512 0.01036179
+v -0.06418983 0.05676581 0.01110002
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+v -0.06654439 0.05048538 0.00974445
+v -0.06587848 0.05323550 0.01005366
+v -0.06758961 0.05048538 0.01151191
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+
diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_46.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ccc2c68c2439b9460f7a41ce4ed9c00c2506c4a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_46.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.05052539 -0.06361978 0.01959857
+v 0.05017535 -0.06397194 0.01959857
+v 0.05052539 -0.06397194 0.01959044
+v 0.05052539 -0.06124666 0.01945117
+v 0.04590945 -0.06551770 0.01953756
+v 0.04863286 -0.06551770 0.01959653
+v 0.05052539 -0.06531767 0.01952943
+v 0.05052539 -0.06089450 0.01942677
+v 0.04318797 -0.06551770 0.01929255
+v 0.05052539 -0.06551770 0.01952028
+v 0.05052539 -0.05802743 0.01876900
+v 0.04054534 -0.06551770 0.01885233
+v 0.05052539 -0.06551767 0.01217896
+v 0.05052539 -0.05754567 0.01860633
+v 0.03852009 -0.06551770 0.01843855
+v 0.04444196 -0.06102030 0.00921338
+v 0.04603254 -0.05984455 0.00921338
+v 0.04735193 -0.05874016 0.00921338
+v 0.04752311 -0.05859554 0.00921338
+v 0.04897136 -0.05730897 0.00921339
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+v 0.05034076 -0.05595760 0.00921339
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+v 0.03738919 -0.06521057 0.00921336
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+v 0.03088840 -0.06066250 0.00921338
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+v 0.04967337 -0.05592383 0.01707117
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+v 0.03513122 -0.06551769 0.01707419
+v 0.03087878 -0.06100527 0.00921338
+v 0.03087878 -0.06488097 0.01439223
+f 1 2 3
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+f 1 31 14
+f 1 14 11
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+f 34 42 36
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+f 38 44 39
+f 39 44 40
+
diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_47.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba1fa04c45f7ea957f492cd3ab6a793ebfd98e37
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_47.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
+v -0.06413837 -0.05034413 0.00933355
+v -0.05869577 -0.05852063 0.00943914
+v -0.06141707 -0.05579391 0.00948097
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+v -0.06685967 -0.04489251 0.00935448
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+v -0.05867071 -0.06117585 0.00976434
+v -0.06130373 -0.05825109 0.00994839
+v -0.06320221 -0.05579392 0.01006866
+v -0.06568483 -0.05205132 0.01019624
+v -0.06608916 -0.05034414 0.00989823
+v -0.06868404 -0.04489252 0.00995576
+v -0.06878757 -0.04432774 0.00990348
+v -0.06734246 -0.04432773 0.00942664
+v -0.06681608 -0.04432773 0.00941304
+v -0.05847890 -0.04432774 0.01099414
+v -0.05847890 -0.06156643 0.00982812
+v -0.06032071 -0.06022049 0.01014497
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+v -0.06682261 -0.05034414 0.01169683
+v -0.06835382 -0.04655570 0.01024332
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+v -0.05847890 -0.04432777 0.01863819
+v -0.05847890 -0.06286837 0.01169678
+v -0.05939653 -0.06183599 0.01169678
+v -0.06052014 -0.06047354 0.01169679
+v -0.06188134 -0.05863250 0.01169679
+v -0.06285564 -0.05727006 0.01169680
+v -0.06377655 -0.05579392 0.01169681
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+v -0.06793097 -0.04834541 0.01428179
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+v -0.06502549 -0.05361549 0.01686674
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+v -0.06782961 -0.04814187 0.01686676
+v -0.06844973 -0.04677760 0.01686677
+v -0.06854127 -0.04698113 0.01428180
+v -0.06940005 -0.04489253 0.01428181
+v -0.06920389 -0.04489254 0.01686678
+v -0.06945564 -0.04432776 0.01632929
+v -0.06141707 -0.04432777 0.01978846
+v -0.05869577 -0.04761928 0.01951971
+v -0.05847890 -0.04761928 0.01942664
+v -0.05847890 -0.06277487 0.01686671
+v -0.05935730 -0.06180117 0.01686671
+v -0.06049072 -0.06043689 0.01686672
+v -0.06563143 -0.05195416 0.01831086
+v -0.06354660 -0.05602682 0.01698071
+v -0.06272922 -0.05709038 0.01791870
+v -0.06200776 -0.05833363 0.01698071
+v -0.06831132 -0.04646954 0.01826905
+v -0.06941204 -0.04432776 0.01686678
+v -0.06413837 -0.04432777 0.02001120
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+
diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_48.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e60e73a86f02e5b38d4b51fed5bfce7b2b2e76f5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_48.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.03384567 0.07231576 0.02011507
+v 0.03103129 0.07504081 0.01999822
+v 0.03112373 0.07231576 0.02006499
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+v 0.03928825 0.07231576 0.01981562
+v 0.03103129 0.07842296 0.01686706
+v 0.03112373 0.07731946 0.01900076
+v 0.03384567 0.07685678 0.01867418
+v 0.03112373 0.06959073 0.01962259
+v 0.03384567 0.06959073 0.01987091
+v 0.03656760 0.06959073 0.02002533
+v 0.03103129 0.06959073 0.01961007
+v 0.03384567 0.07504081 0.01966852
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+v 0.03554816 0.07654181 0.01834865
+v 0.03112373 0.07839363 0.01686706
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+v 0.03656760 0.06750214 0.01957667
+v 0.03103129 0.06750214 0.01870545
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+
diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_49.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1af63e8b8a1b8dcd40ef09b220517b533c22f31a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_49.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.06159872 0.05048362 0.01328041
+v -0.05735135 0.04408444 0.00921376
+v -0.05814010 0.04214328 0.00921375
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+
diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_5.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa94de70b9a3ac1a3fadeef764990e79db5bc5eb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_5.obj
@@ -0,0 +1,652 @@
+# https://github.com/mikedh/trimesh
+v -0.03692769 0.03969266 -0.00465353
+v -0.04802938 0.03969266 -0.00465353
+v -0.05244185 0.03969261 0.00921375
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diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_50.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c7647010628c975cbb8d655fd8bad769f5a9f9d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_50.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.05834032 0.05275663 0.02001699
+v 0.05559509 0.05275663 0.01956011
+v 0.05834032 0.05050907 0.01985730
+v 0.05942596 0.05050907 0.01994296
+v 0.05942596 0.05275663 0.01999372
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+v 0.05348942 0.04169641 0.01228920
+v 0.05513263 0.04169641 0.01430178
+v 0.05658888 0.04169640 0.01601929
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+
diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_51.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..976c7df834b3165007d97f1019b092015f8bad0a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_51.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.03986404 -0.07204065 0.00973643
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diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_52.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cad43707a10fd4e9a1158aa87f3f04901fe449c4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_52.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_53.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e29df7abf71fe6a40a8bf09104df4a2eb530f494
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_53.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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+v -0.04883994 -0.06875279 0.00964994
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+
diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_54.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..378010e4e3c80bb9ed1c12d2d28d859169007c06
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_54.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.03986404 -0.05511100 0.00921444
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+
diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_55.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e8e28ff5093de14b13d4c1e3301e502ca4a740a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_55.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_56.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb0b67b0d504dc247f79f74fdc23e546d99df278
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_56.obj
@@ -0,0 +1,442 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_57.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fc2ead1df9ee8409b5509c53b2e0873dcb20548
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_57.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.05788845 0.05676579 0.02012396
+v -0.05597217 0.05676579 0.02002356
+v -0.05597217 0.05868709 0.02011008
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+v -0.05869484 0.05676579 0.02010580
+v -0.05516876 0.05676579 0.01996375
+v -0.05069049 0.06124868 0.01988366
+v -0.05324951 0.06124868 0.02007163
+v -0.05341316 0.06124868 0.02008338
+v -0.05613582 0.06124868 0.02008018
+v -0.05869484 0.05868709 0.02004814
+v -0.06061111 0.05676579 0.01993278
+v -0.05324951 0.05676579 0.01955042
+v -0.04797378 0.06124868 0.01935924
+v -0.05891206 0.06124868 0.01934322
+v -0.06145023 0.05676579 0.01965615
+v -0.05244609 0.05676579 0.01936778
+v -0.04558141 0.06124868 0.01860733
+v -0.05931673 0.06124868 0.01920972
+v -0.06154247 0.05874985 0.01909116
+v -0.06308978 0.05676579 0.01895124
+v -0.05022035 0.05676579 0.01847168
+v -0.04548321 0.06124868 0.01855500
+v -0.05994161 0.06124868 0.01892989
+v -0.06071824 0.06092393 0.01869705
+v -0.06313144 0.05788355 0.01852188
+v -0.06347364 0.05676579 0.01873870
+v -0.04997635 0.05676579 0.01832109
+v -0.04412932 0.06124868 0.01779348
+v -0.06059326 0.06124868 0.01856034
+v -0.06125087 0.06124869 0.01696574
+v -0.06247384 0.05961221 0.01686748
+v -0.06337841 0.05825000 0.01686747
+v -0.06428300 0.05676580 0.01700525
+v -0.04941992 0.05676579 0.01790027
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+v -0.06253335 0.05969735 0.01428279
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+v -0.06444368 0.05676581 0.01428278
+v -0.03900237 0.05676583 0.00921381
+v -0.03404504 0.05954685 0.00921382
+v -0.03404504 0.06124872 0.00921382
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+v -0.06128658 0.06124871 0.01169704
+v -0.06340520 0.05827197 0.01169703
+v -0.06441987 0.05676581 0.01356078
+v -0.04947646 0.05676583 0.00921381
+v -0.04444473 0.06124872 0.00921382
+v -0.06316417 0.05791518 0.01004155
+v -0.06073907 0.06124871 0.01019322
+v -0.06435739 0.05676582 0.01169703
+v -0.06134311 0.05676582 0.00968695
+v -0.05869484 0.06124872 0.00952142
+v -0.04905689 0.05720512 0.00921381
+v -0.04468873 0.06107274 0.00921382
+v -0.06365515 0.05676582 0.00995504
+v -0.06418778 0.05676582 0.01109999
+v -0.06062302 0.06124871 0.01001913
+v -0.06154843 0.05876875 0.00968376
+v -0.04765241 0.05853748 0.00921382
+v -0.04620330 0.05984219 0.00921382
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 16
+f 1 16 21
+f 1 21 27
+f 1 27 34
+f 1 34 41
+f 1 41 48
+f 1 48 53
+f 1 53 59
+f 1 59 58
+f 1 58 54
+f 1 54 49
+f 1 49 42
+f 1 42 35
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+f 1 28 22
+f 1 22 17
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+f 1 13 6
+f 1 6 2
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+f 54 58 61
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+f 55 62 56
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+f 55 63 62
+
diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_58.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e579818ba98426fb58da93396e763ae592ec365
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_58.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v 0.04201154 -0.06942396 0.01960134
+v 0.04192604 -0.06942396 0.01959935
+v 0.04192604 -0.06950854 0.01960035
+v 0.04745517 -0.06669871 0.01959541
+v 0.04863344 -0.06551770 0.01959640
+v 0.04473335 -0.06669871 0.01956862
+v 0.04192604 -0.06678329 0.01940490
+v 0.04192604 -0.07081876 0.01951899
+v 0.04473335 -0.06942396 0.01955372
+v 0.05135370 -0.06551770 0.01949917
+v 0.04591162 -0.06551770 0.01953786
+v 0.04201154 -0.06669871 0.01939995
+v 0.04192604 -0.06669871 0.01938904
+v 0.04192604 -0.07081874 0.01304721
+v 0.04334058 -0.07081876 0.01949121
+v 0.04745517 -0.06942396 0.01935529
+v 0.05017543 -0.06669871 0.01947536
+v 0.05430246 -0.06551770 0.01899020
+v 0.04318980 -0.06551770 0.01929280
+v 0.04192604 -0.06551770 0.01903980
+v 0.04192604 -0.06551768 0.01274462
+v 0.04304524 -0.07081873 0.01051525
+v 0.04631266 -0.07081876 0.01913205
+v 0.04745517 -0.07081876 0.01892668
+v 0.05020031 -0.06949868 0.01877686
+v 0.05310866 -0.06692028 0.01887510
+v 0.05561907 -0.06597744 0.01846733
+v 0.05561907 -0.06551770 0.01861616
+v 0.04473335 -0.07026350 0.00998048
+v 0.04318047 -0.07081873 0.01028209
+v 0.05300607 -0.06551767 0.00973048
+v 0.05038684 -0.06679312 0.00988028
+v 0.04856504 -0.07081876 0.01870146
+v 0.05234232 -0.06864042 0.01849510
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+v 0.05666987 -0.06551770 0.01825402
+v 0.05609162 -0.06551770 0.01846833
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+v 0.04473335 -0.07081873 0.00982074
+v 0.05553513 -0.06551767 0.00967095
+v 0.05289725 -0.06669867 0.00946657
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+
diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_59.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16d2300aa1e9db712bbb89a551e442822db25832
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_59.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
+v 0.03656739 -0.07215043 0.01960729
+v 0.03384631 -0.07215043 0.01958937
+v 0.03088080 -0.07487578 0.01957343
+v 0.03112523 -0.07487578 0.01957144
+v 0.03929050 -0.07215043 0.01957344
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+v 0.03112523 -0.07215043 0.01952666
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+v 0.04200956 -0.07215043 0.01943210
+v 0.04333879 -0.07081965 0.01949183
+v 0.03517554 -0.07081965 0.01950577
+v 0.03088080 -0.07215043 0.01951671
+v 0.03088080 -0.07760113 0.01901003
+v 0.03656739 -0.07487578 0.01935345
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+
diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_6.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b6217f27a2d6500eae004482dffa826cb3bbf27
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_6.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v -0.06685897 -0.03671568 0.02002063
+v -0.06685897 -0.03590818 0.02001639
+v -0.06958053 -0.03590818 0.01963873
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+v -0.06182952 -0.03590818 0.01880725
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+v -0.05874218 -0.04432512 0.01883473
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+
diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_60.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b12af87dbac37f07aa3be1ec6ea34409371ba4d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_60.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v 0.01479213 0.07776791 0.02011447
+v 0.01206960 0.07776791 0.02010821
+v 0.01685125 0.07504185 0.02001741
+v 0.01685125 0.07776791 0.02009673
+v 0.00390703 0.08049198 0.01974196
+v 0.00118449 0.08049198 0.01975031
+v -0.00030526 0.08049198 0.01974718
+v -0.00030526 0.07899888 0.01992560
+v -0.00030526 0.07776791 0.02007169
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+v 0.01685125 0.07309523 0.01951236
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+v 0.01206960 0.08049198 0.01940804
+v 0.00934874 0.08049198 0.01958648
+v 0.00662788 0.08049198 0.01969813
+v 0.00390703 0.08235288 0.01875587
+v 0.00118449 0.08237083 0.01876526
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+
diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_61.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54e4a77d72db7d1dbb09a2f26ef05a3d6f741d43
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_61.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v -0.07230336 0.02597767 0.00940145
+v -0.07230336 0.02469279 0.00943508
+v -0.07419038 0.02469278 0.00985352
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+v -0.07126932 0.03879201 0.01004597
+v -0.06762061 0.03879201 0.00985042
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+v -0.07479792 0.02469278 0.01169656
+v -0.07385006 0.02820655 0.01016894
+v -0.07146429 0.03879201 0.01060740
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+v -0.07166622 0.03879201 0.01169661
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diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_62.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..124a69e12ad05d4454c3bdac513fc76589335891
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_62.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_63.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d88077874501be95bb304a1f411db4b9b46a7ac8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_63.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_64.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0064c1707b9951a746c51b7f3bb1df8b2d5e5e2c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_64.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.05847890 -0.05870748 0.00945569
+v -0.05741367 -0.05962883 0.00953471
+v -0.05847890 -0.05962883 0.00956842
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+v -0.05847890 -0.05623404 0.00998564
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+v -0.05847890 -0.05328627 0.01283970
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+v -0.05597292 -0.05962886 0.01986789
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+v -0.05330088 -0.05328629 0.01875642
+v -0.04883994 -0.05734414 0.01831181
+f 1 2 3
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+
diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_65.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7578da83fff483ef3becb4f002a73d9b5f0df257
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_65.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
+v -0.03404504 0.07880153 0.01428288
+v -0.03404504 0.07879933 0.01405784
+v -0.03425805 0.07873880 0.01428288
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+v -0.03404504 0.07871350 0.01184354
+v -0.03692172 0.07783861 0.01169695
+v -0.03692172 0.07791563 0.01428288
+v -0.03404504 0.07867166 0.01669642
+v -0.03404504 0.07824689 0.01100531
+v -0.03692172 0.07707816 0.00978924
+v -0.03911509 0.07671390 0.01006899
+v -0.04093094 0.07635734 0.01090207
+v -0.03987222 0.07682065 0.01173720
+v -0.03692172 0.07776485 0.01686778
+v -0.03964445 0.07696701 0.01428287
+v -0.04103006 0.07641454 0.01570230
+v -0.03980895 0.07678211 0.01668505
+v -0.03404504 0.07864855 0.01675526
+v -0.03901385 0.07666765 0.01847094
+v -0.03404504 0.07751066 0.00970665
+v -0.03419900 0.07747875 0.00969943
+v -0.04508568 0.07231633 0.00950844
+v -0.04236506 0.07468239 0.00972832
+v -0.04508568 0.07406060 0.01004937
+v -0.04650504 0.07371175 0.01036010
+v -0.04508568 0.07450961 0.01169693
+v -0.04212042 0.07588853 0.01173720
+v -0.04105116 0.07642336 0.01262602
+v -0.04082760 0.07632541 0.01742625
+v -0.04105748 0.07642666 0.01428287
+v -0.04241779 0.07582249 0.01428287
+v -0.04508568 0.07456242 0.01428286
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+v -0.04760594 0.07306023 0.01703087
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+v -0.03692172 0.07504112 0.01974378
+v -0.03419900 0.07742699 0.01901291
+v -0.03404504 0.07746001 0.01901497
+v -0.04971705 0.07131044 0.01851841
+v -0.04780629 0.07188709 0.01887352
+v -0.04533665 0.07257711 0.01914916
+v -0.04236506 0.07231629 0.01989345
+v -0.03404504 0.06755998 0.01037143
+v -0.05394560 0.06755998 0.00998741
+v -0.05279198 0.06891578 0.00992238
+v -0.05541769 0.06755998 0.01117044
+v -0.05469008 0.06829401 0.01217281
+v -0.05351958 0.06912928 0.01146568
+v -0.05154556 0.07071398 0.01428285
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+v -0.05145065 0.07064134 0.01686775
+v -0.03419900 0.07504112 0.01996779
+v -0.03404504 0.07521390 0.01991308
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+v -0.04236506 0.06959036 0.02004726
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+
diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_66.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ffa269b315b60d4fe428213eeebf6e3ef367b93
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_66.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.05847890 -0.04432591 0.01099511
+v -0.05775239 -0.04432591 0.01008267
+v -0.05847890 -0.05328627 0.01283996
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+v -0.05648336 -0.04432593 0.01678160
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+
diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_7.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfe4a7d800de5b2a4c37edc61258ac24d3ceda08
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_7.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
+v 0.02840004 -0.07487613 0.01958985
+v 0.02023424 -0.07760210 0.01949500
+v 0.03087878 -0.07487613 0.01957306
+v 0.03087878 -0.07403723 0.01955923
+v 0.02923646 -0.07403723 0.01957010
+v -0.00030694 -0.07760210 0.01955625
+v 0.02295719 -0.07760210 0.01946240
+v -0.00030694 -0.07909387 0.01937249
+v -0.00030694 -0.08032718 0.01921837
+v 0.00118580 -0.08032718 0.01920552
+v 0.00390875 -0.08032718 0.01917589
+v 0.00662865 -0.08032718 0.01914427
+v 0.03087878 -0.07512118 0.01954243
+v 0.03087878 -0.07403721 0.01390230
+v 0.02651656 -0.07403723 0.01952762
+v -0.00030694 -0.07487613 0.01926976
+v -0.00030694 -0.07636969 0.01942783
+v 0.02567709 -0.07760210 0.01938139
+v 0.00935160 -0.08032718 0.01909191
+v 0.01207150 -0.08032718 0.01901485
+v -0.00030694 -0.08208457 0.01851496
+v 0.00118580 -0.08207830 0.01850804
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diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_8.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63e76156e80c9dabd09d1da9c74171796d701bc2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_8.obj
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diff --git a/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_9.obj b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c971311691324f55bd098a4944ffab64449bf88
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/mjcf/mesh/white_dish_collision_9.obj
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