diff --git a/.gitattributes b/.gitattributes
index 1d3a526899a2e1bb592d1398989ec8d6a39deb80..e5ef1d5ff510c4af1cca4a81f2c05c3c2cecd1b9 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4473,3 +4473,6 @@ dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/mesh/spice_ja
 dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/spice_jar_010.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/0b6d5a4f191c5231a3c8afc0b6818c8e/mesh/spatula_027.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/0b6d5a4f191c5231a3c8afc0b6818c8e/spatula_027.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/0b5b2352736c534cb6d52ab5dd0d43c1.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mesh/utensil_holder.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mesh/utensil_holder_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/0b5b2352736c534cb6d52ab5dd0d43c1.urdf b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/0b5b2352736c534cb6d52ab5dd0d43c1.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..343726a63a10d35e4442f7a92cfe5c3b9eeb0b22
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/0b5b2352736c534cb6d52ab5dd0d43c1.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="utensil_holder">
+   <link name="utensil_holder">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/utensil_holder.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/utensil_holder_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4500" />
+         <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>0.161443</scale>
+         <version>v0.1.7</version>
+         <category>utensil holder</category>
+         <description>cylindrical red utensil holder with smooth surface</description>
+         <min_height>0.12</min_height>
+         <max_height>0.18</max_height>
+         <real_height>0.15</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.6</max_mass>
+         <generate_time>20260120024028</generate_time>
+         <gs_model>mesh/utensil_holder_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.061851978302002</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>4</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/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/0b5b2352736c534cb6d52ab5dd0d43c1.usd b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/0b5b2352736c534cb6d52ab5dd0d43c1.usd
new file mode 100644
index 0000000000000000000000000000000000000000..ddb2afe895746b9ded6f60e0cbdb0bfb41ff1049
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/0b5b2352736c534cb6d52ab5dd0d43c1.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8b4d98ef9182f1ad46bfb0a07132b0381256b97e5a95dacc17227142cb872ec
+size 1279429
diff --git a/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mesh/material.mtl b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/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/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mesh/material_0.png b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f26f339853e35dcfdf660aad21231044c9707a7f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9046785128b18c9332139e2775731b721db76bcdcb8c5f023800dfde926ebfc6
+size 1197628
diff --git a/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mesh/utensil_holder.glb b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mesh/utensil_holder.glb
new file mode 100644
index 0000000000000000000000000000000000000000..e6fef6c79414304f9d7436dab958aa92510b2411
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mesh/utensil_holder.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ec0ab2d509824e91a6db9c69da02385a38a67b9ba6b5eac087315fb254ee05a
+size 2045060
diff --git a/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mesh/utensil_holder.obj b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mesh/utensil_holder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9bd1647fe8e6e748a8a33f15e07cc34b612e8a3
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mesh/utensil_holder.obj
@@ -0,0 +1,77198 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mesh/utensil_holder_collision.obj b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mesh/utensil_holder_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fda30c4288142bb36ba31703f4216e5f6e0d1c4
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mesh/utensil_holder_collision.obj
@@ -0,0 +1,16303 @@
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diff --git a/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mesh/utensil_holder_gs.ply b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mesh/utensil_holder_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..e4405f2696abd5c0e1c960e69a756d67d3ed655a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mesh/utensil_holder_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cfe9175bd38a789b898842d5dec23eaf3f0e620b17b65aa6648adeecbbcf384
+size 6378538
diff --git a/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/0b5b2352736c534cb6d52ab5dd0d43c1.xml b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/0b5b2352736c534cb6d52ab5dd0d43c1.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3a9bc6735788631a4d3daa8b2e55b53a7dcc9d3c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/0b5b2352736c534cb6d52ab5dd0d43c1.xml
@@ -0,0 +1,54 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="utensil_holder">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/utensil_holder.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/utensil_holder_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/utensil_holder_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/utensil_holder_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/utensil_holder_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/utensil_holder_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/utensil_holder_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/utensil_holder_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/utensil_holder_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/utensil_holder_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/utensil_holder_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/utensil_holder_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/utensil_holder_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/utensil_holder_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/utensil_holder_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/utensil_holder_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/utensil_holder_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/utensil_holder_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/utensil_holder_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/utensil_holder_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/utensil_holder_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="utensil_holder">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f26f339853e35dcfdf660aad21231044c9707a7f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9046785128b18c9332139e2775731b721db76bcdcb8c5f023800dfde926ebfc6
+size 1197628
diff --git a/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder.obj b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a2e7cd74380bdf9b9e7a335a25e020e8a98999b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder.obj
@@ -0,0 +1,77198 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.013454 0.003006 -0.069516
+v -0.011428 -0.000909 -0.069530
+v -0.013555 0.006441 -0.069514
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+v -0.025174 -0.005515 -0.069484
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+v -0.020539 -0.011578 -0.069507
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+v -0.011955 -0.032355 -0.069663
+v -0.010366 -0.020819 -0.069622
+v -0.011383 -0.011859 -0.069539
+v -0.006658 -0.014914 -0.069646
+v -0.007523 -0.026461 -0.069707
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diff --git a/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision.obj b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b817ca8932f9ef1dcd876169aed65dd9be3e0edb
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision.obj
@@ -0,0 +1,16303 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_0.obj b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60832a22e601a009338f21e1b5c7e6cd9163c28c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_0.obj
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diff --git a/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_1.obj b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16de230ddfbd051e27544770d1a4b17a95474542
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_1.obj
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diff --git a/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_10.obj b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95e3b63b204820788882b53c7c9f76483e2b28bb
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_10.obj
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diff --git a/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_11.obj b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8259798ff5bd7b90d051794388a37944ce706d30
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_11.obj
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diff --git a/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_12.obj b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac96a618ed29ff25ed4f89da61b12224c306e883
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_12.obj
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diff --git a/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_13.obj b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0cde76fba05d070c1cf757ec3ff8038e2843d49
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_13.obj
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diff --git a/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_14.obj b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..438150b8f24f895a6bcaa5ab0404a6cfc2280a01
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_14.obj
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diff --git a/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_15.obj b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08987a05080b5da1e6de29ed8ef70205d7afc9f1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_15.obj
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diff --git a/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_16.obj b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58f825e0facf699b73742eceddb03b4528f69b50
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_16.obj
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diff --git a/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_17.obj b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb6fcceeac1d103c7204d0389116d58c7e2c3fb5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_17.obj
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diff --git a/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_18.obj b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8163b1fbbf98c7993eeca732d2d33b5d2f742b1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_18.obj
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diff --git a/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_19.obj b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e6b49f97f2b178cb93895c015f3bc8f7a680277
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_19.obj
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diff --git a/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_2.obj b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9542169821d891071be9df3b9546972d1d8bf173
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_2.obj
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diff --git a/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_3.obj b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5624239f0e0d0d7893748262422cefabdb0b692
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_3.obj
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diff --git a/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_4.obj b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84af0fce304e52c715bdf1b5f6bce8bf88245c1d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_4.obj
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diff --git a/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_5.obj b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_5.obj
new file mode 100644
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diff --git a/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_6.obj b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd4d03cd016a7c3c7af739ee2363f4176191867c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_6.obj
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diff --git a/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_7.obj b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a5f1fb9a8569ecbe59ac0f1b0054d373b690462
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_7.obj
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diff --git a/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_8.obj b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fb6d387f7f5e65ffc7f7b869cabf7dc5e5e2b10
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_8.obj
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diff --git a/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_9.obj b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7052e9e60a8cffaf45e667651753e62f6eadb567
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/mjcf/mesh/utensil_holder_collision_9.obj
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