diff --git a/.gitattributes b/.gitattributes
index ec1299db1937f20bbc4df8e0699f49ceb218623a..5c17d4ded2c89c1a1b11f5a85db411a7823450eb 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4221,3 +4221,6 @@ dataset/kitchen_supplies/tableware/5eaa7df0a56857069cb24d98de127b25/mjcf/mesh/ch
 dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/bowl_036.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/681dff1cbc3858eebdc64d41659cba0b/mesh/bowl_036.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/6977b00350005f839a7fcc75cc8e093f/6977b00350005f839a7fcc75cc8e093f.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/69abd964d45d52cfadc38131585e7878.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mesh/white_dish.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mesh/white_dish_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/69abd964d45d52cfadc38131585e7878.urdf b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/69abd964d45d52cfadc38131585e7878.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a174bd175891294edc92671a84a3b45c5466f20b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/69abd964d45d52cfadc38131585e7878.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>0.164659</scale>
+         <version>v0.1.7</version>
+         <category>white dish</category>
+         <description>white, round, fluted dish with a flat base and slightly raised edges</description>
+         <min_height>0.05</min_height>
+         <max_height>0.08</max_height>
+         <real_height>0.065</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20260120035847</generate_time>
+         <gs_model>mesh/white_dish_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.414615154266357</ImageAestheticChecker>
+         <overall>NO</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/69abd964d45d52cfadc38131585e7878/69abd964d45d52cfadc38131585e7878.usd b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/69abd964d45d52cfadc38131585e7878.usd
new file mode 100644
index 0000000000000000000000000000000000000000..ae44994bbf86a7df169d9b46e63bffd94de24cf5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/69abd964d45d52cfadc38131585e7878.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c17114f78596e049378f3cd9b2855584afd164fab5a3159fef2cc7f2ac13029
+size 351785
diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mesh/material.mtl b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/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/69abd964d45d52cfadc38131585e7878/mesh/material_0.png b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e5245a017bb4cf9236f2cfa496c8f049a21c9789
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bb87a7bcd04a2d96fb9bb1f4e4323fce09eef0201b1a50949f51efce1d3a056
+size 681939
diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mesh/white_dish.glb b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mesh/white_dish.glb
new file mode 100644
index 0000000000000000000000000000000000000000..03a80441c6079e6754306b7054c398bc9b865064
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mesh/white_dish.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb96877220bde55fd359790dc5a24b32647a0a5c4852db189cc78756d77c78e0
+size 925836
diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mesh/white_dish.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mesh/white_dish.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5061c4f3bc26c71233ce281c4cfbd35284a12c65
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mesh/white_dish.obj
@@ -0,0 +1,22310 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+v 0.05258439 0.02053001 -0.05467145
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diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mesh/white_dish_collision.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mesh/white_dish_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e50851791057a612df6bf8a0cad8b2c8a54a9ed
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mesh/white_dish_collision.obj
@@ -0,0 +1,18507 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mesh/white_dish_gs.ply b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mesh/white_dish_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..e13708756a22d61707962ef0022982ab4242ab15
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mesh/white_dish_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/69abd964d45d52cfadc38131585e7878.xml b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/69abd964d45d52cfadc38131585e7878.xml
new file mode 100644
index 0000000000000000000000000000000000000000..62503bfd11771257d6146a1ca24b6c9bb8b06ac4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/69abd964d45d52cfadc38131585e7878.xml
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+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bb87a7bcd04a2d96fb9bb1f4e4323fce09eef0201b1a50949f51efce1d3a056
+size 681939
diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish.obj
new file mode 100644
index 0000000000000000000000000000000000000000..365f8d22d7881499d53b18ff8dded1d93ca11a43
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish.obj
@@ -0,0 +1,22310 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c6bff4bf18161745e674893657d5eeef2b4bcce
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision.obj
@@ -0,0 +1,18507 @@
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diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_0.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7402b4e63c63c34e234e2683d8ce7dd91604e9b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_1.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21ed91a55de5a906125106122f9d18ef759cf167
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_10.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2554ccec0973cc5e55f4d2fc4c7621b560bd7d0a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_10.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_11.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cc0535330928a2421cd71878d1e5c6962f79a1e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_11.obj
@@ -0,0 +1,1078 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_12.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37950af4f28216f1e8eac07a205ee7e805970a2e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_12.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_13.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5295ce92247f9420d99e465621566d7aa0ed127
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_13.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_14.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..407ab95eb27d6340d6540e89a11b911bc1534131
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_14.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_15.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bf57a76b9758bbbbeb88774c46eedfef225b807
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_15.obj
@@ -0,0 +1,352 @@
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+
diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_16.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..695c84a63974068e5d8d88de87f0a21a0cc6d3d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_16.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_17.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fceb9a628fdd99de2d6b730bebaf2706da15d7a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_17.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_18.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a61159b2d498a03f549a18b90cebaa038907941
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_18.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
+v 0.08213748 -0.00813258 0.02827026
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diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_19.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd05c36cbae12c63d9dbca19bc54af729aeed6a3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_19.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_2.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d112a585fe0a0716fcde9a6489ced20dd53e1cd2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_2.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_20.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2a877df14d815116778673d5138853a6008fa7f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_20.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_21.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2530295fcde052ba8d42ba9f28f9c6c4ab6d0989
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_21.obj
@@ -0,0 +1,325 @@
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+
diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_22.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b01153161549283a9191583aca19925baf3aee5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_22.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_23.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c04cbf595206e41cedbc39f97b69770d9e5ad2c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_23.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
+v 0.01074932 0.06139523 0.02620202
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+
diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_24.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1da8e17f59ed3b83c01fd5f01d92ad6da0035228
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_24.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v -0.07093420 0.02352604 0.02827038
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+f 85 87 91
+f 88 90 89
+
diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_25.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9cdb6ff077709defb18a1e9ac4ce8809069fe30
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_25.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.00630282 0.06594428 0.02489794
+v 0.00087654 0.06594428 0.02483082
+v 0.00901457 0.06594428 0.02485021
+v 0.00952806 0.07028452 0.02370389
+v -0.00183799 0.06594428 0.02479427
+v 0.00952806 0.06594428 0.02482783
+v 0.01074932 0.06594428 0.02473162
+v 0.01074932 0.07028452 0.02358381
+v -0.01760057 0.07028452 0.02333768
+v -0.00674801 0.06594428 0.02470775
+v 0.01074932 0.06594431 0.01727929
+v 0.01074932 0.07028455 0.01727931
+v -0.01760612 0.07028453 0.02097788
+v -0.01760612 0.07028324 0.02333768
+v -0.01488882 0.06594428 0.02443776
+v -0.01217429 0.06594428 0.02455262
+v -0.00945976 0.06594428 0.02463914
+v -0.01760612 0.06594431 0.01727929
+v -0.01760612 0.07028455 0.01727931
+v -0.01760612 0.06594428 0.02429233
+f 1 2 5
+f 1 5 10
+f 1 10 17
+f 1 17 16
+f 1 16 15
+f 1 15 20
+f 1 20 18
+f 1 18 11
+f 1 11 7
+f 1 7 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 4
+f 4 6 7
+f 4 7 8
+f 4 8 12
+f 4 12 19
+f 4 19 13
+f 4 13 9
+f 4 9 5
+f 5 9 10
+f 7 11 12
+f 7 12 8
+f 9 13 14
+f 9 14 15
+f 9 15 16
+f 9 16 17
+f 9 17 10
+f 11 18 19
+f 11 19 12
+f 13 19 18
+f 13 18 20
+f 13 20 14
+f 14 20 15
+
diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_26.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8838a7b4fe019c4f06f6abbc7fc131d4c3241ae5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_26.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.05764716 0.03251252 0.02469472
+v 0.05565684 0.03251252 0.02540694
+v 0.03576229 0.03251252 0.02469472
+v 0.05687802 0.03379723 0.02469472
+v 0.05565684 0.03391017 0.02511146
+v 0.05458563 0.03251252 0.02573944
+v 0.03576229 0.03251251 0.02620176
+v 0.03576229 0.05654795 0.02469481
+v 0.05632528 0.03462547 0.02469473
+v 0.05273886 0.03372899 0.02604879
+v 0.05314378 0.03251251 0.02618435
+v 0.05570183 0.03549842 0.02469473
+v 0.05384864 0.03798784 0.02469474
+v 0.05294239 0.03920432 0.02469474
+v 0.05294239 0.03662078 0.02532906
+v 0.05308379 0.03251251 0.02620176
+v 0.03576229 0.05140674 0.02620183
+v 0.03576229 0.05560677 0.02502376
+v 0.03666639 0.05560677 0.02480042
+v 0.03666639 0.05590795 0.02469481
+v 0.05189903 0.03410075 0.02620177
+v 0.05243249 0.03342546 0.02620176
+v 0.05307951 0.03252192 0.02620176
+v 0.05282884 0.03933373 0.02469474
+v 0.05023008 0.03933373 0.02543248
+v 0.05012510 0.03653841 0.02612949
+v 0.05037791 0.03593370 0.02620177
+v 0.05128630 0.03485370 0.02620177
+v 0.04867897 0.03777607 0.02620178
+v 0.03666639 0.05289381 0.02561338
+v 0.03576229 0.05199262 0.02606051
+v 0.03576229 0.05288675 0.02582124
+v 0.03937870 0.05289381 0.02487447
+v 0.03931871 0.05351499 0.02469480
+v 0.03706060 0.05557618 0.02469480
+v 0.03683136 0.05577147 0.02469480
+v 0.03967221 0.05318558 0.02469480
+v 0.04962806 0.03677136 0.02620178
+v 0.04998156 0.03639253 0.02620177
+f 1 2 6
+f 1 6 11
+f 1 11 16
+f 1 16 7
+f 1 7 3
+f 1 3 8
+f 1 8 20
+f 1 20 36
+f 1 36 35
+f 1 35 34
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+f 1 24 14
+f 1 14 13
+f 1 13 12
+f 1 12 9
+f 1 9 4
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+f 1 5 2
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+f 3 18 8
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+f 24 33 25
+f 25 29 38
+f 25 38 39
+f 25 39 26
+f 25 33 30
+f 26 39 27
+f 30 32 31
+f 33 37 34
+
diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_27.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..366964b8fef5e9ef190b73eef52e22eebe8fd2fb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_27.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.03150744 0.06594431 0.01727854
+v -0.03150744 0.05027677 0.01727848
+v -0.03150744 0.06594428 0.02379347
+v 0.01074932 0.06594431 0.01727854
+v -0.03150744 0.05027673 0.02769591
+v 0.01074932 0.05027677 0.01727848
+v -0.03117240 0.05027673 0.02776262
+v -0.02845483 0.05027673 0.02820592
+v -0.02835969 0.05027673 0.02821883
+v -0.02823974 0.05027673 0.02823497
+v -0.02797502 0.05027673 0.02827047
+v -0.02574139 0.05135191 0.02827048
+v -0.02823974 0.06594428 0.02418942
+v 0.01074932 0.06594428 0.02473171
+v 0.01074932 0.05027673 0.02827047
+v -0.02371046 0.05221389 0.02827048
+v -0.02304864 0.05248537 0.02827048
+v -0.02192770 0.05289642 0.02827048
+v -0.02031453 0.05346698 0.02827049
+v -0.01950381 0.05370472 0.02827049
+v -0.01760110 0.05425381 0.02827049
+v -0.01760110 0.05560814 0.02789391
+v -0.01488766 0.05560814 0.02810157
+v -0.01488766 0.05831986 0.02730322
+v -0.01217423 0.05831986 0.02745493
+v -0.01217423 0.06037665 0.02678246
+v -0.00946493 0.06054077 0.02683626
+v -0.00946493 0.06189663 0.02635855
+v -0.00675150 0.06201626 0.02640266
+v -0.00675150 0.06374484 0.02569253
+v -0.00675150 0.06594428 0.02470804
+v 0.01074932 0.06374484 0.02544613
+v 0.00952910 0.06594428 0.02482747
+v 0.01074932 0.05488266 0.02827049
+v -0.01572734 0.05476916 0.02827049
+v -0.01490421 0.05498696 0.02827049
+v -0.01217423 0.05558053 0.02827049
+v -0.01198396 0.05560814 0.02827049
+v -0.00946493 0.05831986 0.02756360
+v -0.00675150 0.06066040 0.02687392
+v -0.00403807 0.06206074 0.02641772
+v -0.00132463 0.06374484 0.02576569
+v -0.00403807 0.06374484 0.02573234
+v -0.00183754 0.06594428 0.02479411
+v 0.01074932 0.05831986 0.02720746
+v 0.00901620 0.06594428 0.02485006
+v 0.00681567 0.05831986 0.02743233
+v 0.00952910 0.05831986 0.02728385
+v 0.01074932 0.05560814 0.02806176
+v 0.00952910 0.05513727 0.02827049
+v -0.00946493 0.05594710 0.02827050
+v -0.00675150 0.05831986 0.02763892
+v -0.00403807 0.06070335 0.02688898
+v -0.00132463 0.06208681 0.02642848
+v 0.00630276 0.06594428 0.02489740
+v 0.00087590 0.06594428 0.02483069
+v 0.00410223 0.06054230 0.02682227
+v 0.00138880 0.06203773 0.02641450
+v 0.00138880 0.06068188 0.02687392
+v 0.00410223 0.05831986 0.02754531
+v 0.00681567 0.05561581 0.02827049
+v 0.00952910 0.05560814 0.02813492
+v -0.00675150 0.05619864 0.02827050
+v -0.00403807 0.05630447 0.02827050
+v -0.00403807 0.05831986 0.02766797
+v -0.00132463 0.06073095 0.02689544
+v -0.00132463 0.05831986 0.02768195
+v 0.00138880 0.05831986 0.02764214
+v 0.00410223 0.05596091 0.02827050
+v -0.00132463 0.05635202 0.02827050
+v 0.00138880 0.05624772 0.02827050
+f 1 2 5
+f 1 5 3
+f 1 3 13
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+f 1 31 44
+f 1 44 56
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+f 1 55 46
+f 1 46 33
+f 1 33 14
+f 1 14 4
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+f 64 70 65
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+f 67 71 68
+f 68 71 69
+
diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_28.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c1ba9be1b1478c51f88d8f151550ee0b23d17e0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_28.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.02545021 0.07028451 0.02827055
+v -0.03517471 0.06594427 0.02827053
+v -0.01760612 0.06594428 0.02429272
+v -0.01760612 0.07028324 0.02333728
+v -0.01858304 0.07028452 0.02345349
+v -0.04383609 0.07028451 0.02827055
+v -0.04992108 0.06594427 0.02827053
+v -0.01760612 0.06594431 0.01727854
+v -0.01760612 0.07028453 0.02097771
+v -0.04393186 0.07028451 0.02770783
+v -0.04435967 0.06996499 0.02827055
+v -0.04991151 0.06595489 0.02827053
+v -0.05010944 0.06594427 0.02785521
+v -0.01760612 0.07028455 0.01727856
+v -0.04539405 0.06594431 0.01727854
+v -0.04402126 0.07028452 0.02521376
+v -0.04486409 0.06975808 0.02521376
+v -0.04692967 0.06840183 0.02521375
+v -0.04685305 0.06834744 0.02785522
+v -0.04452887 0.06986769 0.02811454
+v -0.04677961 0.06829560 0.02827054
+v -0.04847805 0.06703793 0.02827054
+v -0.04820988 0.06738252 0.02785522
+v -0.05000409 0.06602627 0.02785521
+v -0.05005198 0.06607684 0.02521374
+v -0.05020841 0.06594428 0.02553222
+v -0.03701361 0.07028455 0.01727856
+v -0.04548983 0.06594431 0.01728285
+v -0.04473320 0.06652131 0.01727854
+v -0.04393186 0.07028452 0.02431103
+v -0.04663595 0.06819534 0.02342443
+v -0.04828650 0.06743309 0.02521375
+v -0.05022118 0.06594428 0.02521374
+v -0.04172901 0.06830414 0.01727855
+v -0.03708066 0.07028455 0.01728717
+v -0.04911337 0.06594429 0.02304891
+v -0.04308265 0.06767191 0.01727855
+v -0.04362857 0.07028452 0.02363425
+v -0.04987958 0.06594428 0.02444550
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 14
+f 1 14 27
+f 1 27 35
+f 1 35 38
+f 1 38 30
+f 1 30 16
+f 1 16 10
+f 1 10 6
+f 1 6 11
+f 1 11 21
+f 1 21 22
+f 1 22 12
+f 1 12 7
+f 1 7 2
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+f 2 13 26
+f 2 26 33
+f 2 33 39
+f 2 39 36
+f 2 36 28
+f 2 28 15
+f 2 15 8
+f 2 8 3
+f 3 8 14
+f 3 14 9
+f 3 9 4
+f 4 9 5
+f 6 10 11
+f 7 12 13
+f 8 15 29
+f 8 29 37
+f 8 37 34
+f 8 34 27
+f 8 27 14
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 11 20 19
+f 11 19 21
+f 12 22 23
+f 12 23 24
+f 12 24 13
+f 13 24 25
+f 13 25 26
+f 15 28 29
+f 16 30 17
+f 17 30 18
+f 18 23 19
+f 18 30 31
+f 18 31 32
+f 18 32 23
+f 19 23 21
+f 21 23 22
+f 23 32 24
+f 24 32 25
+f 25 33 26
+f 25 32 31
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+f 28 31 29
+f 29 31 37
+f 30 38 31
+f 31 36 39
+f 31 39 33
+f 31 38 37
+f 34 37 38
+f 34 38 35
+
diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_29.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..333fd2f8f60b57b398a56c4c41e5c8218970f2c3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_29.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.05022199 0.06594428 0.02521374
+v -0.05021174 0.06594428 0.02553222
+v -0.04988375 0.06594428 0.02444550
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+v -0.05141094 0.06501174 0.02521374
+v -0.05011095 0.06594427 0.02785521
+v -0.05136140 0.06498105 0.02785521
+v -0.04911504 0.06594429 0.02304891
+v -0.04961727 0.06573721 0.02324258
+v -0.05704476 0.05706374 0.01727851
+v -0.05716263 0.05987358 0.02364389
+v -0.05730954 0.06001009 0.02521372
+v -0.05577211 0.06136595 0.02521373
+v -0.05441405 0.06254235 0.02521373
+v -0.05287662 0.06380926 0.02521373
+v -0.05440209 0.06253161 0.02785520
+v -0.05287662 0.06376630 0.02785520
+v -0.04992304 0.06594427 0.02827053
+v -0.05329343 0.06338132 0.02827052
+v -0.04845566 0.06594429 0.02252599
+v -0.04845566 0.06315590 0.01728391
+v -0.06146401 0.05027677 0.01727848
+v -0.06149135 0.05027677 0.01727956
+v -0.06443638 0.05027675 0.02255821
+v -0.06590547 0.05027674 0.02521368
+v -0.06244113 0.05433511 0.02379343
+v -0.05984800 0.05717260 0.02365357
+v -0.04845566 0.06300712 0.01727853
+v -0.05866589 0.05867417 0.02521372
+v -0.05862831 0.05865269 0.02785519
+v -0.05727025 0.05997787 0.02785519
+v -0.05575844 0.06133373 0.02785520
+v -0.05437305 0.06250707 0.02827052
+v -0.04845566 0.06594427 0.02827053
+v -0.04845566 0.05027677 0.01727848
+v -0.06584739 0.05027673 0.02785515
+v -0.06498473 0.05140712 0.02785516
+v -0.06500010 0.05143628 0.02521369
+v -0.06379407 0.05289643 0.02521369
+v -0.06252313 0.05443021 0.02521370
+v -0.06133931 0.05578607 0.02521370
+v -0.05998296 0.05731984 0.02521371
+v -0.05996587 0.05729836 0.02785518
+v -0.05992829 0.05725848 0.02827050
+v -0.05894263 0.05825544 0.02827050
+v -0.05722754 0.05993799 0.02827051
+v -0.04845566 0.05691339 0.02827050
+v -0.04845566 0.05027675 0.02267657
+v -0.06573806 0.05027673 0.02818009
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+v -0.06249409 0.05439492 0.02827049
+v -0.06377528 0.05289642 0.02785516
+v -0.06251801 0.05442253 0.02785517
+v -0.06132223 0.05577992 0.02785517
+v -0.06164680 0.05535507 0.02827049
+v -0.04858207 0.05677994 0.02827050
+v -0.05524084 0.05027673 0.02827047
+v -0.06570731 0.05027673 0.02827047
+f 1 2 6
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+f 1 34 20
+f 1 20 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
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+f 4 12 13
+f 4 13 14
+f 4 14 15
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+f 5 17 7
+f 6 7 19
+f 6 19 18
+f 7 17 19
+f 8 20 21
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+f 9 21 10
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+f 10 24 25
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+f 10 26 27
+f 10 27 11
+f 10 21 28
+f 10 28 35
+f 10 35 22
+f 11 27 29
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+f 36 49 37
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+f 43 55 44
+f 47 56 48
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+f 51 53 52
+f 51 55 54
+f 51 54 53
+
diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_3.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52e5a7e825ba2b525f142edbb2816d8764e29d02
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_3.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v 0.00498017 0.08241240 0.02827059
+v 0.00498017 0.08190667 0.03009405
+v 0.00681808 0.08183992 0.03000028
+v 0.00681808 0.08229508 0.02827059
+v 0.00498017 0.07419960 0.02827056
+v 0.00498017 0.08093165 0.03141443
+v 0.00681808 0.08086894 0.03132109
+v 0.00953137 0.08074556 0.03109849
+v 0.00953137 0.08169832 0.02977768
+v 0.01224466 0.08152436 0.02947440
+v 0.01383922 0.08141512 0.02926109
+v 0.00953137 0.08203412 0.02827059
+v 0.00498017 0.07503908 0.03049825
+v 0.04208720 0.06174689 0.02827052
+v 0.04208720 0.06209886 0.02955881
+v 0.04208720 0.06236385 0.03049820
+v 0.00498017 0.07957634 0.03226300
+v 0.00681808 0.07951363 0.03225667
+v 0.00953137 0.07939023 0.03223259
+v 0.01224466 0.07924863 0.03218402
+v 0.01495795 0.07907872 0.03209996
+v 0.01224466 0.08060396 0.03079479
+v 0.01767124 0.07885620 0.03196015
+v 0.01482719 0.08055743 0.03028454
+v 0.01224466 0.08172058 0.02827059
+v 0.01767124 0.07990405 0.03049826
+v 0.02022107 0.07927494 0.03062160
+v 0.02309781 0.07903220 0.02984356
+v 0.02484129 0.07878541 0.02941990
+v 0.02036273 0.08011848 0.02827058
+v 0.01511050 0.08130792 0.02827059
+v 0.01415159 0.08146976 0.02827059
+v 0.00498017 0.07581180 0.03193437
+v 0.04208720 0.06263694 0.03104435
+v 0.04208720 0.07127455 0.02827055
+v 0.00498017 0.07730669 0.03237831
+v 0.00681808 0.07730669 0.03243533
+v 0.00953137 0.07730669 0.03251051
+v 0.01224466 0.07730669 0.03255613
+v 0.01495795 0.07730669 0.03253459
+v 0.01767124 0.07730669 0.03242308
+v 0.02309781 0.07673017 0.03222371
+v 0.01920768 0.07870651 0.03185413
+v 0.02580747 0.07636202 0.03207968
+v 0.02101653 0.07839296 0.03158422
+v 0.02309781 0.07808550 0.03116437
+v 0.02577115 0.07780634 0.03037957
+v 0.02848080 0.07672209 0.03062624
+v 0.03123405 0.07628516 0.02973162
+v 0.03269058 0.07599387 0.02926234
+v 0.02612711 0.07855886 0.02827058
+v 0.02512824 0.07887847 0.02827058
+v 0.02309781 0.07943678 0.02827058
+v 0.04208720 0.06385469 0.03219578
+v 0.03934849 0.07288272 0.02827056
+v 0.04208720 0.07128871 0.02827731
+v 0.04208720 0.06645810 0.03253751
+v 0.03666062 0.06917076 0.03257131
+v 0.03123405 0.07188341 0.03258568
+v 0.02580747 0.07459404 0.03251050
+v 0.02754732 0.07609500 0.03192128
+v 0.03123405 0.07395077 0.03219709
+v 0.02935617 0.07568638 0.03159266
+v 0.03123405 0.07530609 0.03105200
+v 0.03390011 0.07456775 0.03049782
+v 0.03378025 0.07562167 0.02827057
+v 0.03282134 0.07605254 0.02827057
+v 0.03123405 0.07665130 0.02827057
+v 0.03666062 0.07372422 0.02991577
+v 0.03821522 0.07334392 0.02936708
+v 0.03836415 0.07342485 0.02827056
+v 0.04208720 0.07089829 0.02969738
+v 0.04208720 0.06849108 0.03213709
+v 0.03946109 0.06932449 0.03229844
+v 0.03410352 0.07207963 0.03231493
+v 0.03330443 0.07354822 0.03201969
+v 0.03511329 0.07311533 0.03173331
+v 0.03666062 0.07133723 0.03219201
+v 0.04042363 0.07033188 0.03167205
+v 0.04161864 0.07102977 0.02991111
+v 0.03666062 0.07269054 0.03123658
+v 0.04208720 0.07035819 0.03039813
+v 0.04208720 0.07002441 0.03081122
+v 0.03861477 0.07082545 0.03199771
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+f 64 77 65
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+f 72 80 82
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+f 74 78 75
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+f 76 84 77
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+f 77 79 81
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+f 79 82 80
+
diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_30.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9056992f181037cd69fcd7eee4996ef7948960a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_30.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.03576014 0.03251016 0.02620176
+v 0.01075177 0.03251016 0.02620176
+v 0.03576014 0.03251017 0.02469472
+v 0.03576014 0.07284282 0.02620191
+v 0.01075177 0.03251017 0.02469472
+v 0.01075177 0.08198159 0.02620194
+v 0.03576014 0.07461053 0.02469487
+v 0.03576014 0.07476066 0.02619719
+v 0.03575525 0.07476550 0.02620191
+v 0.01075177 0.08189928 0.02469490
+v 0.01224517 0.08179272 0.02620194
+v 0.01075177 0.08198645 0.02521406
+v 0.03285168 0.07606344 0.02469488
+v 0.03576014 0.07467349 0.02489109
+v 0.03576014 0.07477035 0.02558523
+v 0.03576014 0.07477520 0.02521403
+v 0.03425695 0.07547258 0.02620192
+v 0.01284498 0.08165228 0.02469490
+v 0.01224517 0.08179758 0.02521406
+v 0.01428942 0.08149246 0.02620194
+v 0.03178182 0.07651868 0.02469488
+v 0.03291534 0.07609250 0.02521404
+v 0.03427164 0.07547744 0.02521404
+v 0.03375017 0.07570505 0.02620192
+v 0.01412784 0.08146340 0.02469490
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+v 0.01513894 0.08134716 0.02620194
+v 0.03123587 0.07680442 0.02521404
+v 0.02929200 0.07741464 0.02469488
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+v 0.03290064 0.07608765 0.02620192
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+v 0.01767283 0.08089677 0.02521406
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+v 0.01564572 0.08125999 0.02620194
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+v 0.02852326 0.07782629 0.02620193
+v 0.02514964 0.07888208 0.02469489
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+v 0.02038544 0.08028654 0.02620193
+v 0.02309805 0.07956009 0.02620193
+v 0.02309805 0.07956979 0.02521405
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 14
+f 1 14 16
+f 1 16 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
+f 1 9 17
+f 1 17 24
+f 1 24 31
+f 1 31 36
+f 1 36 37
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+f 1 20 11
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+f 1 6 2
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+f 2 10 5
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+f 44 51 52
+f 44 52 46
+f 44 46 45
+f 44 49 50
+f 46 52 47
+f 47 52 51
+f 47 51 48
+
diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_31.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3fbd22a92cffd6a3d7bc2a2023b9ece23bff8cc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_31.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
+v -0.05237027 -0.03516303 0.02827016
+v -0.05237027 -0.03415665 0.02838525
+v -0.05287580 -0.03390631 0.02830567
+v -0.05298438 -0.03401145 0.02827017
+v -0.05237027 0.01598708 0.02827035
+v -0.05237027 -0.03390130 0.02841441
+v -0.05237027 -0.03322538 0.02848796
+v -0.05303422 -0.03390631 0.02827017
+v -0.05510143 0.00952322 0.02827032
+v -0.05237027 0.01029927 0.02894152
+v -0.05237027 -0.03119260 0.02868930
+v -0.05381744 -0.03213388 0.02827017
+v -0.05558857 0.00819640 0.02827032
+v -0.05237027 0.00932294 0.02905131
+v -0.05237027 0.00997383 0.02897958
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diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_32.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e20e5e9562986592e872ec95ddf0bff88feef81
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_32.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_33.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81231814f7112b7ac71dece5f4b26ce97263eed1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_33.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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+v -0.03773396 0.04204478 0.02827044
+v -0.03659192 0.04329161 0.02827045
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+f 46 60 47
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+f 48 63 51
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+f 58 59 64
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+f 67 79 75
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+f 68 80 81
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+f 71 83 72
+f 72 83 84
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+
diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_34.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1d83d6c23560bde4956a645debcbd76d4ddc2ef
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_34.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.08264784 0.00388883 0.02521351
+v 0.08259692 0.00388883 0.02503705
+v 0.08263743 0.00407095 0.02521351
+v 0.08260503 0.00388882 0.02785498
+v 0.08201146 0.00388884 0.02309279
+v 0.08191311 0.00678319 0.02326926
+v 0.08176848 0.00949542 0.02342851
+v 0.08244420 0.00678319 0.02521352
+v 0.08240486 0.00678318 0.02785499
+v 0.08259461 0.00407094 0.02785498
+v 0.08245576 0.00459490 0.02827031
+v 0.08249858 0.00388882 0.02824233
+v 0.07991026 0.00388886 0.01727831
+v 0.08158798 0.01220765 0.02365770
+v 0.08147228 0.01380753 0.02382664
+v 0.08215841 0.00949542 0.02521353
+v 0.08230188 0.00678318 0.02827031
+v 0.08211791 0.00949541 0.02785500
+v 0.08196865 0.01021269 0.02827033
+v 0.08225675 0.00737438 0.02827032
+v 0.08249047 0.00388882 0.02827030
+v 0.07082743 0.00388886 0.01727831
+v 0.07846510 0.01742200 0.01727836
+v 0.07886660 0.02486100 0.02367281
+v 0.08024696 0.02034435 0.02521357
+v 0.08086598 0.01763212 0.02521356
+v 0.08128368 0.01545785 0.02521356
+v 0.08152781 0.01410173 0.02521355
+v 0.08180435 0.01220765 0.02521354
+v 0.08176963 0.01220764 0.02785501
+v 0.08167361 0.01265594 0.02827034
+v 0.07372815 0.00388882 0.02827030
+v 0.07082743 0.00388883 0.02516724
+v 0.07082743 0.03251020 0.01727842
+v 0.07383460 0.03139224 0.01727842
+v 0.07610820 0.03251017 0.02374386
+v 0.07781600 0.02848105 0.02521360
+v 0.07850213 0.02648890 0.02521360
+v 0.07894991 0.02513278 0.02521359
+v 0.07953885 0.02305658 0.02521358
+v 0.08018564 0.02034434 0.02785504
+v 0.08081970 0.01763211 0.02785503
+v 0.08126979 0.01536257 0.02785503
+v 0.08151277 0.01400646 0.02785502
+v 0.08149542 0.01390839 0.02827034
+v 0.07082743 0.02353850 0.02827038
+v 0.07082743 0.03251016 0.02827041
+v 0.07320053 0.03251020 0.01727842
+v 0.07381955 0.03142587 0.01727842
+v 0.07379757 0.03147350 0.01727842
+v 0.07626093 0.03251017 0.02521362
+v 0.07679780 0.03119328 0.02521361
+v 0.07776625 0.02848104 0.02785507
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+v 0.07891289 0.02502350 0.02785506
+v 0.07947174 0.02305657 0.02785505
+v 0.07929471 0.02350487 0.02827038
+v 0.07994266 0.02092433 0.02827037
+v 0.08057903 0.01809722 0.02827036
+v 0.07617646 0.03251016 0.02827041
+v 0.07622275 0.03251016 0.02741072
+v 0.07621465 0.03251016 0.02785509
+v 0.07674689 0.03119327 0.02785508
+v 0.07653746 0.03161915 0.02827041
+v 0.07744459 0.02908624 0.02827040
+v 0.07888743 0.02494225 0.02827038
+f 1 2 3
+f 1 3 10
+f 1 10 4
+f 1 4 12
+f 1 12 21
+f 1 21 32
+f 1 32 33
+f 1 33 22
+f 1 22 13
+f 1 13 5
+f 1 5 2
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+f 4 10 11
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+f 5 13 6
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+f 8 16 9
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+f 22 46 47
+f 22 47 34
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+f 29 44 30
+f 30 44 45
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+f 34 47 60
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+f 34 61 51
+f 34 51 36
+f 34 36 48
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+f 36 49 50
+f 36 50 48
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+f 38 54 39
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+f 39 54 55
+f 39 55 56
+f 39 56 40
+f 40 56 41
+f 41 56 57
+f 41 57 58
+f 41 58 42
+f 42 58 59
+f 42 59 45
+f 42 45 43
+f 43 45 44
+f 51 61 52
+f 52 61 62
+f 52 62 63
+f 52 63 53
+f 53 63 64
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+f 53 65 66
+f 53 66 54
+f 54 66 55
+f 55 66 56
+f 56 66 57
+f 60 64 62
+f 62 64 63
+
diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_35.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b09167b03aa58b8b9f582246d4bd7faa4ecd9ce0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_35.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.06097106 -0.04196223 0.02827056
+v -0.06097106 -0.05591937 0.02827050
+v -0.06097106 -0.04420526 0.03116314
+v -0.03453212 -0.06670575 0.03067014
+v -0.03238275 -0.06670574 0.02827046
+v -0.06085071 -0.05609619 0.02827050
+v -0.06097106 -0.05512003 0.03003573
+v -0.06097106 -0.04520810 0.03204321
+v -0.03573554 -0.06670576 0.03136485
+v -0.03573554 -0.06670819 0.03136485
+v -0.03573554 -0.06670817 0.02827088
+v -0.03573554 -0.06670574 0.02827046
+v -0.05986559 -0.05718864 0.02827050
+v -0.05978443 -0.05710387 0.02937555
+v -0.06097106 -0.05477122 0.03040141
+v -0.06097106 -0.04659848 0.03230736
+v -0.03760225 -0.06670819 0.03226178
+v -0.03660033 -0.06670819 0.03186366
+v -0.04883887 -0.06670817 0.02827088
+v -0.05236798 -0.06394920 0.02827048
+v -0.05816400 -0.05891087 0.02827049
+v -0.05901200 -0.05625850 0.03113613
+v -0.05708652 -0.05980470 0.02937975
+v -0.05804926 -0.05806793 0.03025858
+v -0.06097106 -0.05382412 0.03133246
+v -0.06097106 -0.04725249 0.03235160
+v -0.06076396 -0.04722585 0.03235370
+v -0.04473603 -0.06374332 0.03255586
+v -0.04202413 -0.06645385 0.03255754
+v -0.04202413 -0.06670819 0.03250529
+v -0.04991635 -0.06594999 0.02827089
+v -0.04743674 -0.06670818 0.03055134
+v -0.04955533 -0.06566418 0.02992362
+v -0.05283815 -0.06360039 0.02827048
+v -0.05717608 -0.05988704 0.02827049
+v -0.05983480 -0.05445149 0.03191679
+v -0.05624412 -0.05903199 0.03114033
+v -0.05720406 -0.05722499 0.03195512
+v -0.05526179 -0.06073485 0.03019327
+v -0.05427666 -0.06242802 0.02924535
+v -0.06097106 -0.05260814 0.03207731
+v -0.06097106 -0.04965539 0.03248724
+v -0.05830114 -0.05289881 0.03255127
+v -0.05558923 -0.05560449 0.03257401
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+v -0.04450654 -0.06670819 0.03217879
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+v -0.05433264 -0.06247646 0.02827048
+v -0.04710650 -0.06670818 0.03083234
+v -0.04857020 -0.06490602 0.03168378
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+v -0.05266464 -0.06292943 0.03027499
+v -0.05528418 -0.06161897 0.02827048
+v -0.05818639 -0.05545431 0.03214766
+v -0.06084792 -0.05268565 0.03209417
+v -0.05342587 -0.06166743 0.03100593
+v -0.05236798 -0.06213251 0.03150980
+v -0.05443619 -0.05985800 0.03191719
+v -0.05543811 -0.05820359 0.03214470
+v -0.06097106 -0.05086168 0.03240213
+v -0.06097106 -0.05018345 0.03251336
+v -0.04676226 -0.06556487 0.03204609
+v -0.04757667 -0.06389835 0.03230477
+v -0.05015984 -0.06297546 0.03206548
+v -0.05266464 -0.06087051 0.03208866
+v -0.04488436 -0.06670819 0.03200732
+f 1 2 7
+f 1 7 15
+f 1 15 25
+f 1 25 41
+f 1 41 62
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+f 1 63 42
+f 1 42 26
+f 1 26 16
+f 1 16 8
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+f 1 3 4
+f 1 4 5
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+f 1 20 34
+f 1 34 50
+f 1 50 55
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+f 1 35 21
+f 1 21 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 3 8 4
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+f 4 10 5
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+f 6 13 14
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+f 8 18 9
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+f 10 18 17
+f 10 17 30
+f 10 30 48
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+f 10 68 51
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+f 10 32 19
+f 10 19 11
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+f 16 26 27
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+f 17 28 29
+f 17 29 30
+f 17 27 28
+f 19 31 20
+f 19 32 33
+f 19 33 31
+f 20 31 34
+f 21 35 23
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+f 22 24 37
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+f 23 37 24
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+f 23 40 39
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+f 26 42 27
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+f 29 44 46
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+f 29 47 45
+f 30 45 48
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+f 31 50 34
+f 31 33 40
+f 31 40 49
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+f 33 53 54
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+f 35 55 40
+f 36 38 56
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+f 36 57 41
+f 37 39 58
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+f 37 59 53
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+f 37 60 38
+f 38 60 61
+f 38 61 56
+f 39 40 58
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+f 40 55 50
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+f 41 57 62
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+f 43 63 62
+f 43 62 56
+f 43 56 44
+f 44 56 61
+f 44 61 46
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+f 45 47 65
+f 45 65 66
+f 45 66 64
+f 46 61 47
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+f 47 67 66
+f 48 64 68
+f 51 68 64
+f 51 64 52
+f 52 64 53
+f 53 64 66
+f 53 66 67
+f 53 67 60
+f 53 59 54
+f 54 59 58
+f 56 62 57
+f 60 67 61
+
diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_36.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed0ae7f85ec065927275d20b1f2ed778bcac8021
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_36.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v -0.05772599 0.05027523 0.01727848
+v -0.05001686 0.05027523 0.01727848
+v -0.05772599 0.04314827 0.01727846
+v -0.05772599 0.05027519 0.02827047
+v -0.05001686 0.04314827 0.01727846
+v -0.05001686 0.05027521 0.02187067
+v -0.05772599 0.04314825 0.02256465
+v -0.05772599 0.04731068 0.02827046
+v -0.05523954 0.05027519 0.02827047
+v -0.05001686 0.04314824 0.02467137
+v -0.05001686 0.04746000 0.02316827
+v -0.05755167 0.04749418 0.02827046
+v -0.05001686 0.04464131 0.02428080
+v -0.05001686 0.04470201 0.02426358
+v -0.05001686 0.04475434 0.02424852
+v -0.05001686 0.04737209 0.02320485
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 6
+f 1 6 2
+f 2 6 11
+f 2 11 16
+f 2 16 15
+f 2 15 14
+f 2 14 13
+f 2 13 10
+f 2 10 5
+f 3 5 10
+f 3 10 7
+f 4 8 12
+f 4 12 9
+f 6 9 11
+f 7 10 8
+f 8 10 12
+f 9 12 10
+f 9 10 13
+f 9 13 14
+f 9 14 15
+f 9 15 16
+f 9 16 11
+
diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_37.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9aefd1e609fc5b395f41a99efdb2fe2c7071059
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_37.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
+v -0.06097106 -0.05592081 0.02827008
+v -0.06097106 -0.05511960 0.03003565
+v -0.06240286 -0.05428178 0.02922380
+v -0.06245066 -0.05433871 0.02827009
+v -0.06097106 -0.04195848 0.02827014
+v -0.06097106 -0.05476983 0.03040141
+v -0.06331890 -0.05331380 0.02827009
+v -0.06164614 -0.05344802 0.03098509
+v -0.06291465 -0.05268341 0.03026213
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+
diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_38.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3948700b5e22d10b548149f22da01a44a37ea202
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_38.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+v 0.05343284 0.06328276 0.02620202
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+
diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_39.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3c9478c20f0a23ec49eb425f7408f7942d69dd0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_39.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_4.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25563f45fa6013304fd22d8b99c49f1312a11e52
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_4.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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+v 0.00138762 0.08258494 0.02827059
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diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_40.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c9ce1fb90cd7244d5a926bc2c636c1e63720435
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_40.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_41.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02c7b08291ce66113f6340659c46f4f13f0186e3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_41.obj
@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
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+f 15 17 24
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+f 17 26 24
+f 18 19 28
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+f 19 30 28
+f 20 31 32
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+f 21 33 22
+f 21 32 34
+f 21 34 35
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+f 26 43 38
+f 27 29 44
+f 27 44 45
+f 28 30 46
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+f 29 46 47
+f 29 47 44
+f 30 48 49
+f 30 49 46
+f 31 50 32
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+f 32 53 54
+f 32 54 34
+f 34 55 56
+f 34 56 35
+f 34 54 55
+f 36 57 37
+f 36 40 57
+f 38 43 58
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+f 38 59 60
+f 38 60 39
+f 39 61 40
+f 39 60 62
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+f 39 63 61
+f 40 61 64
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+f 40 65 66
+f 40 66 57
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+f 46 64 69
+f 46 69 47
+f 46 49 64
+f 47 69 70
+f 47 70 67
+f 48 71 65
+f 48 65 49
+f 49 65 64
+f 51 72 52
+f 52 72 53
+f 53 73 74
+f 53 74 75
+f 53 75 54
+f 53 72 76
+f 53 76 77
+f 53 77 78
+f 53 78 79
+f 53 79 73
+f 54 75 80
+f 54 80 55
+f 57 66 81
+f 59 82 60
+f 60 82 62
+f 61 69 64
+f 61 63 83
+f 61 83 84
+f 61 84 85
+f 61 85 69
+f 62 83 63
+f 62 82 86
+f 62 86 87
+f 62 87 83
+f 65 71 66
+f 66 71 81
+f 67 88 68
+f 67 70 89
+f 67 89 90
+f 67 90 91
+f 67 91 92
+f 67 92 88
+f 69 85 70
+f 70 85 93
+f 70 93 89
+f 73 94 74
+f 73 79 95
+f 73 95 96
+f 73 96 94
+f 74 94 97
+f 74 97 98
+f 74 98 75
+f 75 98 80
+f 76 99 77
+f 77 100 101
+f 77 101 78
+f 77 99 102
+f 77 102 100
+f 78 101 79
+f 79 101 103
+f 79 103 104
+f 79 104 105
+f 79 105 106
+f 79 106 96
+f 79 96 95
+f 83 87 107
+f 83 107 108
+f 83 108 84
+f 84 108 85
+f 85 108 93
+f 86 109 87
+f 87 109 110
+f 87 110 107
+f 89 93 111
+f 89 111 112
+f 89 112 113
+f 89 113 90
+f 93 108 111
+f 94 114 97
+f 94 96 115
+f 94 115 114
+f 96 106 105
+f 96 105 116
+f 96 116 117
+f 96 117 115
+f 100 118 101
+f 101 118 104
+f 101 104 103
+f 104 118 119
+f 104 119 120
+f 104 120 105
+f 105 121 122
+f 105 122 116
+f 105 120 123
+f 105 123 121
+f 107 124 108
+f 107 110 117
+f 107 117 122
+f 107 122 124
+f 108 124 111
+f 109 125 110
+f 110 125 115
+f 110 115 117
+f 111 124 122
+f 111 122 112
+f 112 126 113
+f 112 122 121
+f 112 121 126
+f 114 115 125
+f 116 122 117
+f 120 127 123
+f 121 123 128
+f 121 128 129
+f 121 129 126
+f 123 127 130
+f 123 130 131
+f 123 131 128
+
diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_42.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcf2e81ad1609a5608a83a610c7864c19b07dd03
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_42.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.06551242 0.03250894 0.01727842
+v 0.06551242 0.03250892 0.02204599
+v 0.07082743 0.03250894 0.01727842
+v 0.06551242 0.01968314 0.01727837
+v 0.06721836 0.03250890 0.02827041
+v 0.06551242 0.03076492 0.02243441
+v 0.07082743 0.03250890 0.02827041
+v 0.07082743 0.01968314 0.01727837
+v 0.06551242 0.01968311 0.02386754
+v 0.06551242 0.02758452 0.02300465
+v 0.07082743 0.02354152 0.02827038
+v 0.07082743 0.01968311 0.02359102
+v 0.07082535 0.01968311 0.02360286
+v 0.07082743 0.02050678 0.02471648
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 10
+f 1 10 6
+f 1 6 2
+f 2 6 5
+f 3 7 11
+f 3 11 14
+f 3 14 12
+f 3 12 8
+f 4 8 12
+f 4 12 13
+f 4 13 9
+f 5 6 10
+f 5 10 9
+f 5 9 11
+f 5 11 7
+f 9 13 14
+f 9 14 11
+f 12 14 13
+
diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_43.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d4cba6e9c1cefdcfa2467a18ad6d4119a5b944c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_43.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.05131510 0.05389753 0.02620199
+v 0.05158595 0.05389753 0.02785582
+v 0.06291549 0.05389753 0.02620199
+v 0.06692463 0.03251074 0.02620191
+v 0.06714912 0.03251074 0.02785574
+v 0.05172992 0.05389753 0.02827049
+v 0.06719548 0.03251074 0.02813759
+v 0.06721744 0.03251074 0.02827041
+v 0.06290329 0.05389753 0.02704875
+v 0.06330347 0.05343483 0.02620199
+v 0.07624350 0.03251074 0.02620191
+v 0.06284472 0.05389753 0.02827049
+v 0.07617273 0.03251074 0.02827041
+v 0.06288621 0.05389753 0.02785582
+v 0.06372074 0.05289257 0.02785581
+v 0.06375246 0.05289257 0.02620198
+v 0.07611661 0.03281432 0.02620191
+v 0.07610441 0.03277663 0.02785574
+v 0.07622154 0.03251074 0.02741151
+v 0.06285693 0.05389753 0.02814901
+v 0.06332543 0.05331758 0.02827049
+v 0.07618005 0.03251074 0.02821089
+v 0.07608245 0.03273267 0.02827041
+v 0.06499692 0.05133698 0.02785581
+v 0.06501401 0.05136210 0.02620198
+v 0.06453574 0.05194414 0.02620198
+v 0.07551390 0.03416892 0.02620192
+v 0.07548705 0.03413333 0.02785575
+v 0.07621178 0.03251074 0.02785574
+v 0.06598518 0.04989025 0.02827047
+v 0.06605594 0.04998028 0.02785580
+v 0.07404005 0.03704562 0.02827043
+v 0.06607058 0.05000541 0.02620197
+v 0.07434995 0.03662061 0.02620192
+v 0.07430359 0.03662061 0.02785575
+v 0.06706860 0.04847703 0.02827047
+v 0.06741266 0.04820695 0.02785580
+v 0.07346662 0.03831228 0.02785576
+v 0.07343734 0.03825994 0.02827043
+v 0.06742729 0.04822788 0.02620197
+v 0.07403518 0.03725289 0.02620193
+v 0.06832770 0.04678116 0.02827046
+v 0.06837651 0.04685235 0.02785579
+v 0.06839359 0.04687328 0.02620196
+v 0.07348371 0.03834788 0.02620193
+v 0.07343490 0.03844000 0.02631491
+v 0.07322017 0.03885664 0.02620193
+v 0.07275410 0.03967107 0.02785577
+v 0.07108261 0.04258546 0.02827045
+v 0.07006752 0.04423527 0.02827045
+v 0.06989183 0.04455141 0.02800744
+v 0.07064583 0.04351086 0.02722770
+v 0.06924275 0.04561918 0.02620196
+v 0.07343734 0.03843790 0.02620193
+v 0.07276631 0.03970457 0.02620194
+v 0.07108018 0.04276551 0.02620195
+v 0.07127538 0.04229862 0.02800744
+v 0.07059459 0.04342711 0.02827045
+v 0.07065315 0.04351923 0.02620195
+f 1 2 6
+f 1 6 12
+f 1 12 20
+f 1 20 14
+f 1 14 9
+f 1 9 3
+f 1 3 10
+f 1 10 16
+f 1 16 26
+f 1 26 25
+f 1 25 33
+f 1 33 40
+f 1 40 44
+f 1 44 53
+f 1 53 59
+f 1 59 56
+f 1 56 55
+f 1 55 47
+f 1 47 54
+f 1 54 45
+f 1 45 41
+f 1 41 34
+f 1 34 27
+f 1 27 17
+f 1 17 11
+f 1 11 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 8
+f 2 8 6
+f 3 9 10
+f 4 11 19
+f 4 19 29
+f 4 29 22
+f 4 22 13
+f 4 13 8
+f 4 8 7
+f 4 7 5
+f 6 8 13
+f 6 13 23
+f 6 23 32
+f 6 32 39
+f 6 39 49
+f 6 49 58
+f 6 58 50
+f 6 50 42
+f 6 42 36
+f 6 36 30
+f 6 30 21
+f 6 21 12
+f 9 14 15
+f 9 15 10
+f 10 15 16
+f 11 17 18
+f 11 18 19
+f 12 21 15
+f 12 15 20
+f 13 22 23
+f 14 20 15
+f 15 21 24
+f 15 24 25
+f 15 25 26
+f 15 26 16
+f 17 27 18
+f 18 27 28
+f 18 28 23
+f 18 23 22
+f 18 22 29
+f 18 29 19
+f 21 30 31
+f 21 31 24
+f 23 28 32
+f 24 31 25
+f 25 31 33
+f 27 34 28
+f 28 34 35
+f 28 35 32
+f 30 36 31
+f 31 36 37
+f 31 37 33
+f 32 35 38
+f 32 38 39
+f 33 37 40
+f 34 41 38
+f 34 38 35
+f 36 42 37
+f 37 42 43
+f 37 43 44
+f 37 44 40
+f 38 41 45
+f 38 45 46
+f 38 46 47
+f 38 47 48
+f 38 48 39
+f 39 48 49
+f 42 50 43
+f 43 50 51
+f 43 51 52
+f 43 52 53
+f 43 53 44
+f 45 54 46
+f 46 54 47
+f 47 55 48
+f 48 55 56
+f 48 56 52
+f 48 52 57
+f 48 57 49
+f 49 57 58
+f 50 58 51
+f 51 58 52
+f 52 58 57
+f 52 56 59
+f 52 59 53
+
diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_44.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a3f039f19af02cb1699c9d9aa0b9e912531023e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_44.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.06551242 0.01968160 0.01727837
+v 0.06551242 0.01968157 0.02386737
+v 0.07082743 0.01968160 0.01727837
+v 0.06551242 0.00388761 0.01727831
+v 0.06551242 0.01966456 0.02387257
+v 0.07082535 0.01968157 0.02360243
+v 0.07082743 0.01968157 0.02359204
+v 0.07082743 0.00388761 0.01727831
+v 0.06551242 0.00388757 0.02612368
+v 0.06551242 0.01934911 0.02395396
+v 0.07082743 0.01966456 0.02360070
+v 0.06551242 0.01879089 0.02407864
+v 0.06551242 0.01763116 0.02431154
+v 0.06551242 0.01487874 0.02486220
+v 0.06551242 0.01218197 0.02537216
+v 0.06551242 0.00949449 0.02574792
+v 0.07082743 0.00407004 0.02515394
+v 0.07082743 0.00388758 0.02516693
+v 0.06551242 0.00407003 0.02611415
+v 0.06551242 0.00678226 0.02596091
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 19
+f 1 19 20
+f 1 20 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 12
+f 1 12 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 7 11
+f 3 11 17
+f 3 17 18
+f 3 18 8
+f 4 8 18
+f 4 18 9
+f 5 10 6
+f 6 11 7
+f 6 10 12
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 11
+f 9 18 19
+f 16 20 17
+f 17 20 18
+f 18 20 19
+
diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_45.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb7a5f9ccdd3a46c4329a772beb7178a7ba3fe9f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_45.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.05772599 0.04314757 0.01727846
+v -0.05772599 0.04314755 0.02256381
+v -0.05001686 0.04314757 0.01727846
+v -0.05772599 0.03251020 0.01727842
+v -0.05287609 0.03661997 0.02510719
+v -0.05287609 0.03933242 0.02466897
+v -0.05016250 0.03933242 0.02546218
+v -0.05001686 0.03947715 0.02547500
+v -0.05001686 0.04204486 0.02495625
+v -0.05001686 0.04218960 0.02492240
+v -0.05001686 0.04314754 0.02467173
+v -0.05772599 0.03251017 0.02417490
+v -0.05690346 0.03251017 0.02445944
+v -0.05558892 0.03251017 0.02490591
+v -0.05427288 0.03251017 0.02532401
+v -0.05276969 0.03251017 0.02579518
+v -0.05001686 0.03251020 0.01727842
+v -0.05036549 0.03251016 0.02652161
+v -0.05001686 0.03636173 0.02600288
+v -0.05001686 0.03773098 0.02577416
+v -0.05001686 0.03933658 0.02550244
+v -0.05001686 0.03251016 0.02662499
+f 1 2 11
+f 1 11 3
+f 1 3 17
+f 1 17 4
+f 1 4 12
+f 1 12 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 12 13
+f 2 13 14
+f 2 14 15
+f 2 15 16
+f 2 16 5
+f 3 11 10
+f 3 10 9
+f 3 9 8
+f 3 8 21
+f 3 21 20
+f 3 20 19
+f 3 19 22
+f 3 22 17
+f 4 17 22
+f 4 22 18
+f 4 18 16
+f 4 16 15
+f 4 15 14
+f 4 14 13
+f 4 13 12
+f 5 16 18
+f 5 18 6
+f 6 18 19
+f 6 19 20
+f 6 20 7
+f 7 20 21
+f 7 21 8
+f 18 22 19
+
diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_46.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c03fbabe5b2924873af61b7b8915baa6c5df20d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_46.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.04539435 0.06594431 0.01727854
+v -0.04300239 0.06594431 0.01727854
+v -0.04632135 0.06530625 0.01727854
+v -0.04549041 0.06594431 0.01728285
+v -0.04300239 0.06594427 0.02827053
+v -0.04300239 0.05027677 0.01727848
+v -0.04845395 0.06594429 0.02252599
+v -0.04767851 0.06394272 0.01727853
+v -0.04845395 0.06594427 0.02827053
+v -0.04300239 0.06110980 0.02827051
+v -0.04300239 0.05027674 0.02489734
+v -0.04845395 0.05027677 0.01727848
+v -0.04845395 0.06315590 0.01728391
+v -0.04845395 0.06300712 0.01727853
+v -0.04845395 0.05691339 0.02827050
+v -0.04470590 0.05027674 0.02437228
+v -0.04845395 0.05027675 0.02267657
+v -0.04743515 0.05027674 0.02321993
+v -0.04730333 0.05027674 0.02328771
+v -0.04608440 0.05027674 0.02388487
+v -0.04474059 0.05027674 0.02436152
+f 1 2 6
+f 1 6 12
+f 1 12 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 7
+f 1 7 9
+f 1 9 5
+f 1 5 2
+f 2 5 10
+f 2 10 11
+f 2 11 6
+f 3 7 4
+f 3 8 7
+f 5 9 15
+f 5 15 10
+f 6 11 16
+f 6 16 21
+f 6 21 20
+f 6 20 19
+f 6 19 18
+f 6 18 17
+f 6 17 12
+f 7 8 13
+f 7 13 14
+f 7 14 12
+f 7 12 17
+f 7 17 15
+f 7 15 9
+f 8 14 13
+f 10 15 11
+f 11 15 16
+f 15 17 18
+f 15 18 19
+f 15 19 20
+f 15 20 21
+f 15 21 16
+
diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_47.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d01848eb3bc220cb7d040ff60da0f9f06f2dfc7e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_47.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.03150856 0.05027520 0.02769600
+v -0.03388261 0.05027520 0.02721775
+v -0.03150856 0.05027524 0.01727950
+v -0.03150856 0.05329735 0.02686801
+v -0.04300186 0.05904048 0.02323882
+v -0.03619814 0.05027520 0.02669769
+v -0.03150856 0.05904051 0.01727954
+v -0.04300186 0.05027524 0.01727950
+v -0.03150856 0.05527265 0.02628982
+v -0.04300186 0.05904051 0.01727954
+v -0.04300186 0.05027521 0.02489787
+v -0.04202411 0.05027521 0.02519869
+v -0.04192960 0.05027521 0.02522623
+v -0.03916401 0.05027520 0.02597777
+v -0.03742567 0.05027520 0.02641421
+v -0.03660882 0.05027520 0.02660286
+v -0.03150856 0.05831970 0.02537208
+v -0.03150856 0.05904048 0.02514775
+f 1 2 6
+f 1 6 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 8
+f 1 8 3
+f 1 3 7
+f 1 7 18
+f 1 18 17
+f 1 17 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 8 10
+f 3 10 7
+f 4 9 5
+f 5 10 8
+f 5 8 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 5 9 17
+f 5 17 18
+f 5 18 7
+f 5 7 10
+
diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_48.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc0657dfdcf03e2053a8d6717b62f5b5f5de5232
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_48.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.06529124 0.05027347 0.02418635
+v -0.05772599 0.05027347 0.02418635
+v -0.06443900 0.05027348 0.02255743
+v -0.06571826 0.04963528 0.02325390
+v -0.06588111 0.04984569 0.02418635
+v -0.05772599 0.04605480 0.02418634
+v -0.05772599 0.05027350 0.01727848
+v -0.06149323 0.05027350 0.01727984
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diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_5.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f47688aba5931477dfa6b58a6f7a40566c65222
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_5.obj
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diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_6.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c26888cd0b08ccb973389cc4843e244c095bbec5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_6.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_7.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ee816e53cb6928a44fe2e008cfbfb97e7327530
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_7.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_8.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..061a802d9456c1da851759426339b4a665de7713
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_8.obj
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diff --git a/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_9.obj b/dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/mjcf/mesh/white_dish_collision_9.obj
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