diff --git a/.gitattributes b/.gitattributes
index a12c2290702172efae58d8ea32b851e39786d3e0..345449375af00ed4ffbf1dad4f0011729948fecc 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4527,3 +4527,6 @@ dataset/kitchen_supplies/utensils/2b6491c08ae85a91889e80577b3643a5/mesh/bottle_o
 dataset/kitchen_supplies/utensils/2b6491c08ae85a91889e80577b3643a5/mjcf/mesh/bottle_opener_010.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/66f80fcce580512d823402dfb10f0ff8/66f80fcce580512d823402dfb10f0ff8.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/6f7beae1fb2e52b0b707367cd3bd590b.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/6cb06041371650eb93688f2862e66490.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mesh/utensil_holder.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mesh/utensil_holder_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/6cb06041371650eb93688f2862e66490.urdf b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/6cb06041371650eb93688f2862e66490.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9d8ce0ebcc4bd8afe00d35368f09e6b60c79fbbd
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/6cb06041371650eb93688f2862e66490.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="0.7500" />
+         <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>0.250000</scale>
+         <version>v0.1.7</version>
+         <category>utensil holder</category>
+         <description>cylindrical utensil holder with attached slotted spatula</description>
+         <min_height>0.2</min_height>
+         <max_height>0.3</max_height>
+         <real_height>0.25</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>1.0</max_mass>
+         <generate_time>20260120022940</generate_time>
+         <gs_model>mesh/utensil_holder_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: The object has overlapping and redundant geometry in the lid area.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.148862361907959</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</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/6cb06041371650eb93688f2862e66490/6cb06041371650eb93688f2862e66490.usd b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/6cb06041371650eb93688f2862e66490.usd
new file mode 100644
index 0000000000000000000000000000000000000000..15eb84f23714f7316f89d9befa64b83f3f0db2b2
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/6cb06041371650eb93688f2862e66490.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5cc1134116b0d067451aeeecad75e3593a1de810f4e034e09f92f43e58ff897
+size 501520
diff --git a/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mesh/material.mtl b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/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/6cb06041371650eb93688f2862e66490/mesh/material_0.png b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..528629ba042ba625887dd737664c11d1504da8be
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0895bde9066530aad58283c67146982eefeb8acecec047bbbe9e57198e01f5b9
+size 1014785
diff --git a/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mesh/utensil_holder.glb b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mesh/utensil_holder.glb
new file mode 100644
index 0000000000000000000000000000000000000000..bd0b1c2114ea7c9a89470b5a86056facad014d7b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mesh/utensil_holder.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa4085d61433d5bcd3f9a5145ee09a706f2f93656dbd06d7624a07a65e444e06
+size 1364184
diff --git a/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mesh/utensil_holder.obj b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mesh/utensil_holder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a147ea31d8df046d71564aad620de3f242d3274
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mesh/utensil_holder.obj
@@ -0,0 +1,32010 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mesh/utensil_holder_collision.obj b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mesh/utensil_holder_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fe5e09f7724356285ec83495d25d59723201ded
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mesh/utensil_holder_collision.obj
@@ -0,0 +1,9160 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mesh/utensil_holder_gs.ply b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mesh/utensil_holder_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..161f575fc06fb7a95e249be84d2a371a11067a52
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+++ b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mesh/utensil_holder_gs.ply
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diff --git a/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/6cb06041371650eb93688f2862e66490.xml b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/6cb06041371650eb93688f2862e66490.xml
new file mode 100644
index 0000000000000000000000000000000000000000..cad8970d74ceb09ec5d929f686d9cce808f2ebe6
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/6cb06041371650eb93688f2862e66490.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+    <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" />
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+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder.obj b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8820527bf1fbac995d3a79f6403e5135d37ba74c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder.obj
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diff --git a/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision.obj b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab7bd2b1973916a62888e566ebc19bbf9aaa7071
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision.obj
@@ -0,0 +1,9160 @@
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diff --git a/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_0.obj b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..909d903f4b102f62ecf07ffe4b357e0015fae870
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_0.obj
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diff --git a/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_1.obj b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d9c28f73ffa69628c95bc3a3d57e993906579ac
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_1.obj
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diff --git a/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_10.obj b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..488a6c46feb12d3b8e1b28c2bfdf323c1496a9f1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_10.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_11.obj b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ba1ab279a9b88af71b25c43cb9467b9ab4eb29b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_11.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v 0.03785917 0.04197418 -0.11587200
+v 0.03549973 0.04354876 -0.11587199
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diff --git a/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_12.obj b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad5842dc2759bac4749c5420812c51fd5e154e45
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_12.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_13.obj b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e0190e83b042ec7305c2cdea505c94cbfd5c972
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_13.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_14.obj b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01b6d59d64e157acbafc05c5c083b0bc0c688d6e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_14.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_15.obj b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35e0b12b38a7580eeef53ae66a7f59cce9edcc09
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_15.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_16.obj b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..541806e16be37a3553798925c815130285a02d08
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_16.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_17.obj b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0033d98171a9763691b085af8c2ddb43e509b505
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_17.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_18.obj b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e65b613bcc46f0dce4cbf5bef5070aa3f79c5d5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_18.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_19.obj b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ce3f8805c636b3ba6924005ba9bab1bcb305e47
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_19.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
+v 0.05572445 0.02498099 0.05234934
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+
diff --git a/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_2.obj b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f23c0e5594112ce7cad511066773033823d4248
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_2.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.00033312 0.07084680 -0.00335507
+v -0.00033312 0.06370274 -0.00335510
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diff --git a/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_20.obj b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ff40c9c46670e6bcecbb1a0a0095099e3d79730
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_20.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_21.obj b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc9165b0928be4be2cfe956c6e2cb6ddc2ac2e5d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_21.obj
@@ -0,0 +1,427 @@
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diff --git a/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_22.obj b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..737db21e71243940c4776564d197f9fa6ac81a34
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_22.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_23.obj b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8140247c15f4fd2a29f84d6e290bde7b4e551104
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_23.obj
@@ -0,0 +1,187 @@
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+
diff --git a/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_24.obj b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..547e13755526fd023d0cc8c2391f3c15d1dc6bf6
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_24.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_25.obj b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cce6674e94000cbd1a2b012f28b95a98fe2498d4
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_25.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_26.obj b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a61677b08841d827ed9e233ca2cd10ca038d15f0
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_26.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_27.obj b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e1ba97e03ba2e89e24bfd42d5bdbaaeb6965c73
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_27.obj
@@ -0,0 +1,247 @@
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diff --git a/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_28.obj b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc9051c84e25286870d6016ca3fc57dad42fb2f0
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_28.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_3.obj b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8979ea72de0de86d633f918a4577f7a2782aa4c3
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_3.obj
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diff --git a/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_4.obj b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0e5ac112335a1778f8c65db4e6ad2d9710f3424
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_4.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_5.obj b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de993bb5f321d83acab4eaa44f8ed59df8d19c15
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_5.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_6.obj b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8a3408271dbffb9361257fd79a5b8733451062a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_6.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_7.obj b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7359b67ab294bc37d70c6a3835aa067b60915617
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_7.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_8.obj b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..215c84788665abc14a1fbf3ad24c3c13a23c3266
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mjcf/mesh/utensil_holder_collision_8.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/video.mp4 b/dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/video.mp4
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