diff --git a/.gitattributes b/.gitattributes
index 1f255f51b5538db5604feea92b3c22611ab889ea..d8b372394bf180c5ed6e952e9505425e13c1461a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4060,3 +4060,6 @@ dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mesh/coaster
dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/0ca4a834b2a6589594d16ffe11f61065.usd filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mesh/metal_bowl.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/mesh/metal_bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/0b9cf4ad25cc559ab85a3a0e89644a89.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mesh/metal_colander.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mesh/metal_colander_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/0b9cf4ad25cc559ab85a3a0e89644a89.urdf b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/0b9cf4ad25cc559ab85a3a0e89644a89.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..38eb6395cc5d2d4ad6db6f2152ee74ed4e6b3f01
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/0b9cf4ad25cc559ab85a3a0e89644a89.urdf
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diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/0b9cf4ad25cc559ab85a3a0e89644a89.usd b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/0b9cf4ad25cc559ab85a3a0e89644a89.usd
new file mode 100644
index 0000000000000000000000000000000000000000..a1feb95242284df4984e84477b45eeb77c892b7c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/0b9cf4ad25cc559ab85a3a0e89644a89.usd
@@ -0,0 +1,3 @@
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+size 615578
diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mesh/material.mtl b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mesh/material_0.png b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mesh/material_0.png
new file mode 100644
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--- /dev/null
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diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mesh/metal_colander.glb b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mesh/metal_colander.glb
new file mode 100644
index 0000000000000000000000000000000000000000..6413267b64c7fe28fdcd945090d29ce1105e9457
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mesh/metal_colander.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mesh/metal_colander.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mesh/metal_colander.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0c4bc553136ec1f619923f4b45f27b98b9103cd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mesh/metal_colander.obj
@@ -0,0 +1,45002 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mesh/metal_colander_collision.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mesh/metal_colander_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34ed2a5d0689f9eeb5be890801537284bdf479f3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mesh/metal_colander_collision.obj
@@ -0,0 +1,19650 @@
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diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..afef288b04494222c53446aeea7c9df0fe4cab0c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01b9eabb2daeeb4cd228ddba88a8e0017c464c88f20b698073bb1f40ecd89b9b
+size 3552553
diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c55acb5922c287df9d860c6d0e99bb40a311f4d4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander.obj
@@ -0,0 +1,45002 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42414490f9b11e56227c39bf3821be1b5abfe73e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision.obj
@@ -0,0 +1,19650 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_0.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b10686c9020a3818dfb6b383fc1c9a15abaa3033
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_0.obj
@@ -0,0 +1,319 @@
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diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_1.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47843c4136f3fad09d1ae4371496ee9c3f505755
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_1.obj
@@ -0,0 +1,511 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_10.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7193f6f1e981cc4235e03786a9ae351d49d499a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_10.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_11.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74ceb710b76db263f660135a904745c00286a4d4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_11.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_12.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86cb2d61c98222c517f12c719d375607c779442f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_12.obj
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+
diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_13.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..122693dbfb2833b3f49e9871420b6cfe10cfc4c5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_13.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_14.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f176e19c2050e223067cad0a82fabed8f9281e0c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_14.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.00014777 -0.00229907 -0.04535505
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+
diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_15.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..991e7fa698d7b4c6c68ea8fd25c5441137afeb59
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_15.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_16.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f698541311216893af45c832799596303e6885c3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_16.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_17.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4625b7e29b86c4587972e336d8238754c15d5c1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_17.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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+v 0.04505843 -0.01459347 -0.05092319
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+
diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_18.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f89c6524ed0bda95faa919461fe1bfabf70df7ee
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_18.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_19.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..535c48dfbd86a3302b3b203d5d3819460eb91997
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_19.obj
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diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_2.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..836a8cd487135ab7b88404c5d4f73836e28e70e8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_2.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_20.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9887c8200f6ac14ff3946962f870fb3fdc75bdb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_20.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_21.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a262d00fd11d1851e9e98d567fdecd360498146a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_21.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.05331817 0.03050884 -0.02582705
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diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_22.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a9665981205d48c667ccc0d001ed9ca8bc856a6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_22.obj
@@ -0,0 +1,313 @@
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diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_23.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9722aff8a51a1d42f4553781449784cf2ee3e88
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_23.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_24.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8420bcadffc7d956573dd43792d04e4fc854c382
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_24.obj
@@ -0,0 +1,415 @@
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diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_25.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b7b40929f264262bc3d14b8cd2548cca34c3230
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_25.obj
@@ -0,0 +1,397 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_26.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f3ab6b1c157d11074dae3a6b67fd93baeb2dd91
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_26.obj
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diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_27.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9990e2fac650833901f3ccec79a4eb1d1258056
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_27.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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+v -0.03099427 0.03784821 -0.05622353
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+
diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_28.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2625ac49bdf08cb348cf0341960c20d2046b98e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_28.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_29.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebd99a9fff2c394abee2f154725f5bfc395b7a47
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_29.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
+v 0.06085272 -0.04829523 0.04590043
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diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_3.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4cffe314cc9586c357cd641acfb52a2abcca0e6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_3.obj
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diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_30.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23e8e2dcc20cc0b2fc19ea1d0245b5988f25d27b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_30.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_31.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7510a83eafb8cd0aa7776ecfa0435e74218fbf3a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_31.obj
@@ -0,0 +1,481 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_32.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbc1cfd9a00bd0f17dad9fe659970370be7d31b9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_32.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_33.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93239eba4384098579934b7d3fbe5945630fe5f1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_33.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_34.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7724ea14bf7209ce4e649a3fdaaf0bc4e0b9a71f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_34.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_35.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a1aad775d868ed2c0d5bdf16c45899ef4d52d3d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_35.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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+v -0.06205328 -0.04576390 0.04452369
+v -0.06745890 -0.04868517 0.04452368
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+
diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_36.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b75e83a8bf08fc0c3606a8d839787081e401f71
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_36.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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+v -0.06068333 -0.04576378 0.01170741
+v -0.06589243 -0.04879137 0.01170740
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+
diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_37.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97e04c1a9232ce5e899a670ccdcbcf4d550e5f24
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_37.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.06107758 -0.04829515 0.02378880
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+v 0.06742664 -0.04829515 0.02378880
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+
diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_38.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cb34ec971a762dbe07db881f1d37daf4655ef77
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_38.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
+v 0.06484571 -0.02899432 -0.01696620
+v 0.05887543 -0.02899432 -0.01696620
+v 0.06441852 -0.02899431 -0.01847773
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+
diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_39.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4a4f8f5a114da520e1c49edc5e9451cda6a0862
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_39.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v 0.02681239 0.02813133 -0.05345893
+v 0.02499260 0.03389326 -0.06269654
+v 0.02681239 0.03200990 -0.06124733
+v 0.02681239 0.03773133 -0.05345889
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+v 0.02156386 0.03773137 -0.06408230
+v 0.02681239 0.03629254 -0.06514729
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+
diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_4.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96f09a96a6d236eb7fed95a3c6a0a5c38ea86335
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_4.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_40.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e92660210555013c15335dcccdfdc0ec425352cf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_40.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_41.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35ac6cc6121c900b8153a2eefab4cffe9502488b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_41.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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+f 42 57 58
+f 42 58 46
+f 43 45 57
+f 44 59 60
+f 44 60 45
+f 45 61 57
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+f 46 58 62
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+f 47 62 63
+f 47 63 48
+f 48 63 64
+f 48 64 65
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+f 53 67 54
+f 54 67 68
+f 54 68 55
+f 55 68 56
+f 56 68 69
+f 57 61 58
+f 58 61 70
+f 58 70 62
+f 59 71 72
+f 59 72 60
+f 60 72 73
+f 60 73 74
+f 60 74 75
+f 60 75 76
+f 60 76 77
+f 60 77 61
+f 61 77 70
+f 62 70 78
+f 62 78 63
+f 63 79 65
+f 63 65 64
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+f 70 74 79
+f 70 79 78
+f 70 77 76
+f 70 76 75
+f 71 73 72
+f 73 82 74
+f 74 81 79
+f 79 81 80
+
diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_42.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc0adb6104c394dd7058dee4be28192841d99445
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_42.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.03560779 0.11259309 0.06731055
+v 0.03560779 0.10820461 0.06729970
+v 0.03979794 0.10820461 0.06724190
+v 0.03979794 0.10834480 0.06724190
+v 0.03560779 0.11684044 0.06728167
+v 0.03141990 0.11768899 0.06722625
+v 0.03141990 0.11684044 0.06722264
+v 0.03547046 0.10820461 0.06729488
+v 0.04305144 0.10820462 0.06636392
+v 0.03979794 0.11259309 0.06713832
+v 0.04316176 0.10834481 0.06633260
+v 0.03560779 0.11768899 0.06724433
+v 0.02722976 0.11768900 0.06644463
+v 0.02709017 0.10820462 0.06637956
+v 0.03128032 0.10820461 0.06713590
+v 0.03141990 0.10820461 0.06714554
+v 0.04316176 0.10820462 0.06633381
+v 0.03979794 0.11684044 0.06676500
+v 0.04316176 0.11667518 0.06490668
+v 0.03984522 0.11768900 0.06648919
+v 0.02186881 0.11768900 0.06422861
+v 0.02324227 0.10820462 0.06472359
+v 0.04316176 0.10820465 0.05623644
+v 0.04312122 0.11684045 0.06490064
+v 0.04316176 0.11678660 0.06484405
+v 0.04294337 0.11768900 0.06473204
+v 0.02016214 0.11768901 0.06145616
+v 0.02121362 0.10820463 0.06236061
+v 0.02321975 0.10820462 0.06470790
+v 0.04155190 0.11337761 0.05502006
+v 0.04213280 0.11337761 0.05502006
+v 0.04316176 0.10914881 0.05604374
+v 0.02722976 0.10820465 0.05666399
+v 0.04316176 0.11768900 0.06415877
+v 0.02033100 0.11768902 0.05953521
+v 0.02089390 0.10820463 0.06145613
+v 0.03977093 0.11768904 0.05500682
+v 0.02587433 0.11768903 0.05603775
+v 0.04213280 0.11592510 0.05502007
+v 0.04316176 0.11276859 0.05609795
+v 0.02389296 0.10820465 0.05761302
+v 0.04316176 0.11768903 0.05808275
+v 0.02133968 0.11768903 0.05786477
+v 0.02321075 0.10820465 0.05781294
+v 0.04006138 0.11768904 0.05502126
+v 0.02210748 0.11768903 0.05723249
+v 0.04182434 0.11768904 0.05513810
+v 0.04259887 0.11768903 0.05630633
+v 0.04309196 0.11714036 0.05686875
+v 0.04316176 0.11675415 0.05687599
+v 0.04316176 0.11712457 0.05711083
+v 0.04297715 0.11768903 0.05708676
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 16
+f 2 16 15
+f 2 15 14
+f 2 14 22
+f 2 22 29
+f 2 29 28
+f 2 28 36
+f 2 36 44
+f 2 44 41
+f 2 41 33
+f 2 33 23
+f 2 23 17
+f 2 17 9
+f 2 9 3
+f 3 9 4
+f 4 10 5
+f 4 9 11
+f 4 11 10
+f 5 12 6
+f 5 10 12
+f 6 12 20
+f 6 20 26
+f 6 26 34
+f 6 34 42
+f 6 42 52
+f 6 52 48
+f 6 48 47
+f 6 47 45
+f 6 45 37
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+f 6 46 43
+f 6 43 35
+f 6 35 27
+f 6 27 21
+f 6 21 13
+f 6 13 14
+f 6 14 7
+f 7 15 16
+f 7 16 8
+f 7 14 15
+f 9 17 11
+f 10 11 18
+f 10 18 12
+f 11 17 23
+f 11 23 32
+f 11 32 40
+f 11 40 50
+f 11 50 51
+f 11 51 42
+f 11 42 34
+f 11 34 25
+f 11 25 19
+f 11 19 18
+f 12 18 20
+f 13 21 14
+f 14 21 22
+f 18 19 24
+f 18 24 20
+f 19 25 24
+f 20 24 26
+f 21 27 28
+f 21 28 29
+f 21 29 22
+f 23 30 31
+f 23 31 32
+f 23 33 30
+f 24 25 26
+f 25 34 26
+f 27 35 36
+f 27 36 28
+f 30 37 31
+f 30 33 38
+f 30 38 37
+f 31 37 39
+f 31 39 32
+f 32 39 40
+f 33 41 38
+f 35 43 36
+f 36 43 44
+f 37 45 39
+f 38 41 44
+f 38 44 46
+f 39 45 47
+f 39 47 48
+f 39 48 49
+f 39 49 50
+f 39 50 40
+f 42 51 52
+f 43 46 44
+f 48 52 49
+f 49 52 51
+f 49 51 50
+
diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_43.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1394d19a3a01a8857c6f4aeff0d72f8ad2f2bc8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_43.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.04427110 -0.02510835 -0.06042573
+v -0.04347178 -0.02510836 -0.05638970
+v -0.04325092 -0.02510833 -0.06408434
+v -0.04275660 -0.02759927 -0.06369700
+v -0.04214921 -0.03013331 -0.06293221
+v -0.04326404 -0.02759928 -0.06042574
+v -0.04250680 -0.02759265 -0.05662295
+v -0.04295378 -0.02510837 -0.05457031
+v -0.04203350 -0.02510833 -0.06477844
+v -0.03981960 -0.02759926 -0.06537362
+v -0.03986430 -0.03166897 -0.06412537
+v -0.04209661 -0.03004212 -0.06042575
+v -0.03849703 -0.03505712 -0.06352033
+v -0.03872843 -0.03539710 -0.06042577
+v -0.04082401 -0.03216488 -0.06042576
+v -0.04192309 -0.02973698 -0.05828829
+v -0.04156285 -0.02900562 -0.05548779
+v -0.04222546 -0.02617308 -0.05356943
+v -0.04237271 -0.02510838 -0.05307040
+v -0.03981960 -0.02510833 -0.06531422
+v -0.03589136 -0.03632081 -0.06444203
+v -0.02527405 -0.04205062 -0.06475447
+v -0.03036448 -0.04205062 -0.06440811
+v -0.03177643 -0.04068574 -0.06443216
+v -0.03466871 -0.03949832 -0.06363766
+v -0.03509465 -0.04000083 -0.06042579
+v -0.03718763 -0.03752154 -0.06042578
+v -0.03828668 -0.03478516 -0.05622434
+v -0.04047696 -0.03143023 -0.05662297
+v -0.03855752 -0.03162756 -0.05093152
+v -0.04014827 -0.02861592 -0.05093151
+v -0.04070042 -0.02753961 -0.05093150
+v -0.04126574 -0.02510838 -0.05093149
+v -0.03819730 -0.02510833 -0.06477279
+v -0.02226607 -0.04205063 -0.06368715
+v -0.03123216 -0.04205062 -0.06405329
+v -0.03324097 -0.04205064 -0.06051769
+v -0.03326464 -0.04205064 -0.06042579
+v -0.03273352 -0.04162940 -0.05622436
+v -0.03462926 -0.03950498 -0.05622436
+v -0.03672486 -0.03690791 -0.05622435
+v -0.03790543 -0.03424121 -0.05383523
+v -0.03555744 -0.03598255 -0.05093153
+v -0.03305954 -0.02510838 -0.05093149
+v -0.03652240 -0.02510834 -0.06364751
+v -0.02124325 -0.04205063 -0.06304393
+v -0.03312529 -0.04205064 -0.05978117
+v -0.03229178 -0.04205065 -0.05622436
+v -0.03192104 -0.04205066 -0.05532243
+v -0.03162394 -0.04054649 -0.05093155
+v -0.03405082 -0.03883667 -0.05331783
+v -0.03543912 -0.02510835 -0.06042573
+v -0.03201308 -0.02597903 -0.05093150
+v -0.02087514 -0.04205063 -0.06259297
+v -0.03061951 -0.04205067 -0.05264776
+v -0.02953885 -0.04205067 -0.05093155
+v -0.01741230 -0.04205067 -0.05093155
+f 1 2 8
+f 1 8 19
+f 1 19 33
+f 1 33 44
+f 1 44 52
+f 1 52 45
+f 1 45 34
+f 1 34 20
+f 1 20 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 5
+f 5 12 6
+f 5 11 13
+f 5 13 14
+f 5 14 15
+f 5 15 12
+f 6 12 16
+f 6 16 7
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 8 18 19
+f 9 20 10
+f 10 21 11
+f 10 20 22
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+f 10 23 24
+f 10 24 21
+f 11 21 13
+f 12 15 16
+f 13 21 25
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+f 17 32 18
+f 18 32 19
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+f 20 34 22
+f 21 24 25
+f 22 35 46
+f 22 46 54
+f 22 54 57
+f 22 57 56
+f 22 56 55
+f 22 55 49
+f 22 49 48
+f 22 48 47
+f 22 47 38
+f 22 38 37
+f 22 37 36
+f 22 36 23
+f 22 34 35
+f 23 36 24
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+f 25 37 26
+f 25 36 37
+f 26 37 38
+f 26 38 39
+f 26 39 40
+f 26 40 27
+f 27 40 41
+f 27 41 28
+f 28 42 29
+f 28 41 42
+f 29 42 30
+f 30 42 43
+f 30 43 50
+f 30 50 56
+f 30 56 57
+f 30 57 53
+f 30 53 44
+f 30 44 33
+f 30 33 32
+f 30 32 31
+f 34 45 46
+f 34 46 35
+f 38 47 39
+f 39 48 49
+f 39 49 50
+f 39 50 40
+f 39 47 48
+f 40 51 43
+f 40 43 41
+f 40 50 51
+f 41 43 42
+f 43 51 50
+f 44 53 52
+f 45 52 54
+f 45 54 46
+f 49 55 50
+f 50 55 56
+f 52 53 57
+f 52 57 54
+
diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_44.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d20e2b3150e03ed86e3a00ad8ea9eef681d39f40
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_44.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.03448429 0.05168447 -0.03173320
+v -0.03448429 0.05168450 -0.03977477
+v -0.03448429 0.03785020 -0.03957623
+v 0.00014777 0.03785022 -0.04507337
+v 0.00014777 0.05168450 -0.04054311
+v -0.03448429 0.04988054 -0.04099409
+v -0.03413512 0.05168450 -0.03999376
+v -0.03448429 0.03785022 -0.04643003
+v 0.00014777 0.03785024 -0.05069116
+v 0.00014777 0.05168453 -0.04781448
+v -0.03314188 0.05065115 -0.04131144
+v -0.02719583 0.03969617 -0.05069115
+v -0.03448429 0.04787752 -0.04210021
+v -0.03251132 0.05168450 -0.04093470
+v -0.02828401 0.03785024 -0.05069116
+v -0.03448429 0.03911380 -0.04602359
+v 0.00014777 0.04926302 -0.05069112
+v -0.00027938 0.05168453 -0.04781632
+v -0.03052820 0.05168450 -0.04193687
+v -0.03448429 0.04126715 -0.04521998
+v -0.03448429 0.04345434 -0.04424750
+v -0.03448429 0.04767710 -0.04219856
+v -0.03038242 0.05168450 -0.04200184
+v -0.02202611 0.04341781 -0.05069114
+v -0.03448429 0.03942123 -0.04591595
+v -0.00210658 0.04926302 -0.05069112
+v -0.00210658 0.05168453 -0.04781262
+v -0.03027395 0.05168450 -0.04204452
+v -0.02028366 0.04438074 -0.05069114
+v -0.02709751 0.05168451 -0.04323785
+v -0.00388972 0.04916281 -0.05069112
+v -0.00629660 0.05168452 -0.04759362
+v -0.00460160 0.05168453 -0.04768828
+v -0.02553137 0.05168451 -0.04381319
+v -0.02308718 0.05168451 -0.04465204
+v -0.02165662 0.05168452 -0.04513456
+v -0.01362235 0.04755660 -0.05069113
+v -0.00629660 0.04895288 -0.05069112
+v -0.00917130 0.05168452 -0.04734123
+v -0.01886666 0.05168452 -0.04583796
+v -0.01197481 0.04798591 -0.05069112
+v -0.00798820 0.04876464 -0.05069112
+v -0.01048999 0.05168452 -0.04720761
+v -0.01750048 0.05168452 -0.04610333
+v -0.01048999 0.04832585 -0.05069112
+v -0.01464274 0.05168452 -0.04665639
+v -0.01398169 0.05168452 -0.04676775
+f 1 2 6
+f 1 6 13
+f 1 13 22
+f 1 22 21
+f 1 21 20
+f 1 20 25
+f 1 25 16
+f 1 16 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 18
+f 1 18 27
+f 1 27 33
+f 1 33 32
+f 1 32 39
+f 1 39 43
+f 1 43 47
+f 1 47 46
+f 1 46 44
+f 1 44 40
+f 1 40 36
+f 1 36 35
+f 1 35 34
+f 1 34 30
+f 1 30 28
+f 1 28 23
+f 1 23 19
+f 1 19 14
+f 1 14 7
+f 1 7 2
+f 2 7 6
+f 3 8 15
+f 3 15 9
+f 3 9 4
+f 4 9 17
+f 4 17 10
+f 4 10 5
+f 6 7 11
+f 6 11 12
+f 6 12 13
+f 7 14 11
+f 8 16 15
+f 9 15 12
+f 9 12 24
+f 9 24 29
+f 9 29 37
+f 9 37 41
+f 9 41 45
+f 9 45 42
+f 9 42 38
+f 9 38 31
+f 9 31 26
+f 9 26 17
+f 10 17 18
+f 11 14 19
+f 11 19 12
+f 12 15 20
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 12 19 23
+f 12 23 24
+f 15 16 25
+f 15 25 20
+f 17 26 18
+f 18 26 27
+f 23 28 24
+f 24 28 30
+f 24 30 29
+f 26 31 32
+f 26 32 33
+f 26 33 27
+f 29 30 34
+f 29 34 35
+f 29 35 36
+f 29 36 37
+f 31 38 39
+f 31 39 32
+f 36 40 37
+f 37 40 41
+f 38 42 43
+f 38 43 39
+f 40 44 45
+f 40 45 41
+f 42 45 46
+f 42 46 47
+f 42 47 43
+f 44 46 45
+
diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_45.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f4954ad9f660c8baf535b67b96f386dce33a02a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_45.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.04316401 -0.00230302 -0.04011606
+v 0.04316401 0.02014899 -0.03968095
+v 0.02681239 -0.00230301 -0.04417147
+v 0.04316401 -0.00230293 -0.06435095
+v 0.02681239 0.02014901 -0.04512399
+v 0.04316401 0.02014908 -0.06406084
+v 0.02681239 -0.00230299 -0.04935698
+v 0.04153302 -0.00230294 -0.06317833
+v 0.03665442 0.02014907 -0.06366831
+v 0.03881843 0.02014908 -0.06497843
+v 0.03979798 0.01913152 -0.06522094
+v 0.04316401 0.00740443 -0.06500348
+v 0.02681239 0.02014903 -0.05126208
+v 0.04316401 0.01943700 -0.06429335
+v 0.04255739 0.02014908 -0.06444337
+v 0.02681239 0.00121117 -0.04980202
+v 0.02681239 0.00308364 -0.05002203
+v 0.02681239 0.00388142 -0.05008203
+v 0.02681239 0.00609454 -0.05024703
+v 0.03979798 0.02014908 -0.06519845
+v 0.04316401 0.01144825 -0.06514598
+f 1 2 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 12
+f 1 12 21
+f 1 21 14
+f 1 14 6
+f 1 6 2
+f 2 5 3
+f 2 6 15
+f 2 15 20
+f 2 20 10
+f 2 10 9
+f 2 9 13
+f 2 13 5
+f 3 5 13
+f 3 13 19
+f 3 19 18
+f 3 18 17
+f 3 17 16
+f 3 16 7
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 6 14 15
+f 7 16 9
+f 7 9 8
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 13
+f 10 20 11
+f 11 20 21
+f 11 21 12
+f 14 21 15
+f 15 21 20
+
diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_46.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d5665f7080cf7da7bf25ece2f8f63ae0f8187eb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_46.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.02855123 -0.06420924 -0.03769206
+v 0.02841778 -0.06429022 -0.03769206
+v 0.02722513 -0.06461915 -0.03789828
+v 0.02722513 -0.06158285 -0.03947657
+v 0.02855123 -0.06289353 -0.03837492
+v 0.02855123 -0.04931118 -0.03769200
+v 0.02722513 -0.06488738 -0.03769206
+v 0.02345812 -0.06669902 -0.03769206
+v 0.02178174 -0.06748845 -0.03769207
+v 0.02285762 -0.06598548 -0.03833116
+v 0.02319680 -0.06150187 -0.04068472
+v 0.02190682 -0.06003434 -0.04178538
+v 0.02722513 -0.05835427 -0.04099015
+v 0.02855123 -0.05581391 -0.04176835
+v 0.02855123 -0.05792411 -0.04077031
+v 0.02855123 -0.01978830 -0.04266023
+v 0.00014987 -0.06022666 -0.03769204
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+v 0.01884596 -0.06582862 -0.03939342
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diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_47.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62cb135cd02dd358354b9ba426f11b1ed30eef58
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_47.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_48.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1e042804895987f4113e7795796b4a9eb8bffdf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_48.obj
@@ -0,0 +1,325 @@
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diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_49.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2630bd6ae565e6a4b703c6870f8c6c7cb4daaa5c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_49.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_5.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4438c6ec4f3464e7a1eb13aba1bb5fc8d9cf8db2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_5.obj
@@ -0,0 +1,472 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_50.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11612e8be2283b3129336bf08b45dadb51277ded
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_50.obj
@@ -0,0 +1,427 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_51.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e0f64b5037148eda5c634839558b9a4fa99f2ee
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_51.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.02681239 -0.00230301 -0.04417218
+v 0.00014777 -0.00230300 -0.04535460
+v 0.02681239 -0.00230299 -0.04935626
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+v 0.00014777 -0.00230298 -0.05091861
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+v 0.01453716 0.03660271 -0.05345890
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+v 0.01902130 -0.00230299 -0.05032262
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+
diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_52.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c891ce07444f939e27c9a1b69e26ed704fc4a8de
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_52.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.00014987 -0.04205070 -0.04226085
+v -0.03151586 -0.04203904 -0.03876566
+v -0.02894009 -0.04205072 -0.03927413
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+v 0.00014987 -0.02759662 -0.04297650
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+v -0.00210665 -0.00230298 -0.05092190
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+
diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_53.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..daee30e8988e51a755b1611e933d4e833d7edd7a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_53.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v 0.00014987 -0.08716696 -0.01121454
+v -0.00332641 -0.08721818 -0.01121454
+v -0.00333431 -0.08508044 -0.01664763
+v 0.00014987 -0.08584875 -0.01452774
+v 0.00014987 -0.08051924 -0.01121452
+v -0.00629706 -0.08713195 -0.01121454
+v -0.00629706 -0.08604823 -0.01419554
+v -0.00629706 -0.08508853 -0.01666295
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+v -0.00629706 -0.08238467 -0.02259871
+v -0.00388735 -0.08098826 -0.02521913
+v 0.00014987 -0.07772099 -0.03075279
+v -0.01880905 -0.07826020 -0.01121451
+v 0.00014987 -0.06730996 -0.03354141
+v -0.02675446 -0.05968098 -0.03354138
+v -0.02675446 -0.07438370 -0.01444463
+v -0.01038695 -0.08653350 -0.01121454
+v -0.00854086 -0.08500226 -0.01643565
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+v 0.00014987 -0.07704433 -0.03172313
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+v 0.00014987 -0.07560481 -0.03354144
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+v -0.02313598 -0.07906354 -0.01121451
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+v -0.01712358 -0.08501307 -0.01225043
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diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_54.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..974f5626974bf94f1c52a74a40d4a757a28bf8b7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_54.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_55.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acfe50d87a8aaad5a50ecc8ec8df9e752ad96998
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_55.obj
@@ -0,0 +1,289 @@
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diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_56.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0276b18e138cf75c9439f2afc01ff29073776a4b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_56.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_57.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3adb3e0f1e9fe738ca1d9423cb90f8444a98305
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_57.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_58.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..679f8bcc3eaa5e590a78be37077b5d24354998bf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_58.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
+v 0.03560585 0.11768899 0.06724350
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diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_59.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca3ddf8209938fcc90e61fa0cbca1d9148fef1af
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_59.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v 0.04977876 -0.11153876 0.05429528
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+
diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_6.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7744654d48bda1611c50276df963c1be44abf138
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_6.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.04316401 0.08919109 0.04578032
+v 0.04316401 0.11675163 0.05687391
+v 0.04461389 0.08801369 0.04578031
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+
diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_60.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5b28b5bd47b466dfee7597b5c44f9e2a8114edb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_60.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.03448429 0.03237979 -0.04860683
+v -0.03538120 0.03174392 -0.04860683
+v -0.03448429 0.03472759 -0.04762920
+v -0.03448429 -0.00218635 -0.04860696
+v -0.03878791 0.02652533 -0.04860685
+v -0.04391280 0.03574344 -0.04227235
+v -0.04373934 0.03613475 -0.04222379
+v -0.03952914 0.03613475 -0.04448941
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+v -0.03448429 0.03613476 -0.04699362
+v -0.03448429 -0.00230299 -0.04856894
+v -0.03449171 -0.00230299 -0.04860696
+v -0.03995610 0.02391415 -0.04860686
+v -0.04662869 0.03187558 -0.04190285
+v -0.04614985 0.03407289 -0.04154601
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+v -0.03448429 0.03613474 -0.04025587
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+
diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_61.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a37e6fff10e51e436bb5937fe035d927862afda
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_61.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.00014777 0.03785144 -0.05069446
+v 0.00014777 0.03785144 -0.05241464
+v 0.00014777 0.04926225 -0.05069442
+v -0.02828383 0.03785144 -0.05069446
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+
diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_62.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a60756e1d5cd7100c4a8497411caa50fa988ed34
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_62.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.02869794 0.03773132 -0.05086410
+v 0.03102792 0.03773134 -0.05624862
+v 0.02823766 0.03866469 -0.05086410
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+
diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_63.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0eec461c2380f4f9cc984da34a052901cd03a2c0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_63.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.02855123 -0.07667006 -0.02242252
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diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_64.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31f29cc130c72d3191ab842b71bb4bf1217fa254
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_64.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_65.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3824a44cb775b40d826824047778d76c1ae34dc4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_65.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.03563018 0.02762542 -0.06544018
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+
diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_66.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d333e0d03bbf751281177675076df8c658e7816
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_66.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.04896835 -0.00230295 -0.06042552
+v 0.04890804 -0.00230295 -0.06060063
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+
diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_67.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0150139e6ff3b5a2b0d6d8bb148752595be200f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_67.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_68.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc72135bf21bd114cb6318992ca1e5cdf6d641fa
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_68.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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+v -0.03123914 -0.10811153 0.06541274
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+
diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_69.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e5b5e07a367227bb0fd58cf6c535224e0d6507e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_69.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.03306028 -0.02510838 -0.05093149
+v -0.04126604 -0.02510838 -0.05093149
+v -0.03544290 -0.02510835 -0.06042577
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diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_7.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a23e2c158b7c069d1bbec0e7e9ddf3f1d44635a1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_7.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_70.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7b36f2cfc48c004d66699d0c39930c304898b40
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_70.obj
@@ -0,0 +1,301 @@
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+
diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_71.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95fe127e1427a2a43a16ce1c0f482d74445fa22d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_71.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v -0.03448429 0.09755074 0.06699745
+v -0.03789686 0.09755074 0.06712636
+v -0.03448429 0.09755079 0.05520515
+v -0.03448429 0.09984813 0.06716231
+v -0.03982132 0.09755074 0.06713998
+v -0.03563034 0.09984813 0.06720072
+v -0.03982132 0.09984813 0.06723047
+v -0.04574335 0.09755079 0.05495850
+v -0.04557232 0.09984818 0.05490771
+v -0.03448429 0.12146109 0.05473551
+v -0.03448429 0.10101180 0.06720321
+v -0.04208784 0.09755074 0.06711520
+v -0.03448429 0.10409895 0.06728997
+v -0.03563034 0.10409895 0.06731972
+v -0.03982132 0.10409895 0.06730608
+v -0.04614614 0.09755079 0.05495850
+v -0.04672955 0.09984818 0.05490771
+v -0.03578539 0.12114400 0.05473800
+v -0.03448429 0.12492514 0.05475040
+v -0.04400910 0.09755074 0.06700986
+v -0.03448429 0.10834672 0.06732840
+v -0.03563034 0.10834672 0.06736310
+v -0.03563034 0.11259450 0.06739659
+v -0.03982132 0.10834672 0.06732964
+v -0.04732735 0.09755079 0.05498204
+v -0.04636513 0.10409900 0.05500315
+v -0.04233239 0.11606759 0.05491891
+v -0.04269841 0.11259455 0.05486189
+v -0.03563034 0.12457215 0.05477147
+v -0.03448429 0.12708789 0.05592281
+v -0.04627562 0.09755075 0.06636540
+v -0.04400910 0.09984813 0.06700121
+v -0.03448429 0.11375218 0.06735446
+v -0.03448429 0.11799997 0.06735447
+v -0.03563034 0.11683931 0.06738793
+v -0.03982132 0.11259450 0.06725777
+v -0.04849739 0.09755079 0.05557074
+v -0.04616054 0.10646817 0.05511221
+v -0.04183210 0.11890046 0.05518045
+v -0.03817499 0.12364182 0.05493629
+v -0.03904770 0.12108717 0.05485448
+v -0.03573103 0.12666911 0.05684861
+v -0.03448429 0.12779089 0.05790823
+v -0.04829917 0.09755075 0.06538880
+v -0.04400910 0.10409895 0.06676572
+v -0.03448429 0.12108712 0.06718220
+v -0.03563034 0.12108712 0.06715122
+v -0.03982132 0.11683931 0.06690583
+v -0.04928058 0.09755078 0.05639862
+v -0.05060726 0.09755078 0.05833572
+v -0.04674874 0.10806855 0.05717573
+v -0.04638750 0.11132321 0.05852415
+v -0.04324507 0.11722525 0.05685105
+v -0.04251301 0.12007307 0.05798257
+v -0.04117356 0.12132946 0.05685107
+v -0.03895658 0.12437173 0.05725386
+v -0.03685151 0.12696225 0.06145524
+v -0.03448429 0.12783577 0.05809662
+v -0.04960027 0.09755075 0.06452374
+v -0.04400910 0.10834673 0.06623654
+v -0.04733536 0.10409896 0.06492159
+v -0.03448429 0.12224778 0.06697029
+v -0.03448429 0.12548449 0.06559214
+v -0.03566870 0.12554134 0.06524390
+v -0.04008666 0.12129652 0.06539385
+v -0.04323068 0.11683932 0.06499352
+v -0.05080226 0.09755077 0.05957506
+v -0.05052095 0.09843324 0.05872487
+v -0.04647062 0.11162831 0.06145518
+v -0.04578652 0.11374922 0.06145519
+v -0.04458133 0.11683933 0.06145520
+v -0.04280392 0.12059055 0.06145521
+v -0.04156996 0.12271446 0.06145522
+v -0.03947448 0.12483835 0.06145523
+v -0.03886549 0.12426400 0.06456970
+v -0.03448429 0.12750068 0.06426977
+v -0.03448429 0.12790154 0.06302549
+v -0.03475602 0.12803018 0.06145524
+v -0.03448429 0.12790455 0.05879190
+v -0.05044902 0.09755076 0.06377023
+v -0.04671358 0.10834673 0.06438497
+v -0.03448429 0.12628618 0.06507658
+v -0.04250502 0.12002219 0.06434535
+v -0.04630919 0.11116166 0.06388181
+v -0.05081344 0.09755076 0.06145513
+v -0.03448429 0.12810794 0.06145524
+v -0.05038027 0.09799947 0.06368718
+f 1 2 5
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+f 48 66 60
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+f 77 86 78
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+f 84 85 87
+
diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_72.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea7a362eaf9821ac22a9cf52f4dd76cdc0d189a2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_72.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.03140335 -0.10350385 0.06563883
+v -0.03981934 -0.09981647 0.06565612
+v -0.03563084 -0.10350385 0.06560181
+v -0.03123914 -0.10350385 0.06563141
+v -0.03563084 -0.09981647 0.06553024
+v -0.04330621 -0.09552294 0.06550065
+v -0.04330621 -0.09981647 0.06548089
+v -0.03981934 -0.10350385 0.06539697
+v -0.03123914 -0.09945992 0.06476273
+v -0.03123914 -0.10350380 0.05307742
+v -0.04330621 -0.09148650 0.06456042
+v -0.04330621 -0.10350385 0.06498483
+v -0.03123914 -0.09927038 0.06468131
+v -0.04330621 -0.10350381 0.05445694
+v -0.03123914 -0.10274755 0.04940032
+v -0.03234121 -0.09721182 0.06397056
+v -0.03123914 -0.09744075 0.06373120
+v -0.04330621 -0.08934911 0.06274901
+v -0.04330621 -0.09330667 0.04044450
+v -0.03961973 -0.09610457 0.04044449
+v -0.03935276 -0.09629973 0.04044449
+v -0.03589069 -0.09848403 0.04044448
+v -0.03574422 -0.09855722 0.04044448
+v -0.03143995 -0.10044877 0.04044447
+v -0.03123914 -0.10051256 0.04044447
+v -0.03123914 -0.10057636 0.04064683
+v -0.03123914 -0.10162162 0.04457813
+v -0.03123914 -0.09649121 0.06175692
+v -0.04330621 -0.08866417 0.06168783
+v -0.04330621 -0.08433305 0.04044453
+v -0.03123914 -0.09251102 0.04044450
+v -0.04330621 -0.08807682 0.06037002
+v -0.03123914 -0.09523017 0.05725061
+v -0.04330621 -0.08712165 0.05655716
+v -0.04330621 -0.08725676 0.05725064
+f 1 2 3
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+f 1 12 14
+f 1 14 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
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+f 19 21 20
+f 28 32 29
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+f 30 34 33
+f 30 33 31
+f 32 33 35
+f 33 34 35
+
diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_73.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc7660fe65b544195a9729da54810a9adbe6ef6c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_73.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.05085013 -0.07606594 0.04044456
+v -0.05085013 -0.07659511 0.05725178
+v -0.04330621 -0.08433543 0.04044453
+v -0.05085013 -0.08761207 0.04044452
+v -0.05085013 -0.07669985 0.05784843
+v -0.04330621 -0.08712063 0.05655647
+v -0.04330621 -0.09330322 0.04044450
+v -0.04973435 -0.08874547 0.04044451
+v -0.05085013 -0.10350379 0.04980342
+v -0.05085013 -0.07762378 0.06145544
+v -0.04330621 -0.08725761 0.05725174
+v -0.04330621 -0.10350381 0.05445581
+v -0.04360381 -0.10350381 0.05356331
+v -0.04491380 -0.10350379 0.05035818
+v -0.04515970 -0.10350379 0.05009192
+v -0.04541447 -0.10350379 0.04995630
+v -0.04818658 -0.10350379 0.04919940
+v -0.04881277 -0.10350379 0.04920680
+v -0.05085013 -0.10350384 0.06127536
+v -0.05085013 -0.08003292 0.06387408
+v -0.05021729 -0.08052708 0.06363245
+v -0.04330621 -0.08934984 0.06274977
+v -0.04330621 -0.08866497 0.06168713
+v -0.04330621 -0.08807678 0.06036813
+v -0.04330621 -0.10350385 0.06498346
+v -0.05010134 -0.10350384 0.06196323
+v -0.04992854 -0.10141164 0.06329213
+v -0.05085013 -0.10307950 0.06151205
+v -0.05085013 -0.08282612 0.06458905
+v -0.04330621 -0.09148502 0.06455941
+v -0.04401070 -0.10350385 0.06493907
+v -0.04330621 -0.09981630 0.06548149
+v -0.04401070 -0.09981630 0.06544697
+v -0.04927946 -0.10350384 0.06271767
+v -0.05085013 -0.10090133 0.06266345
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+v -0.05073198 -0.09858083 0.06389372
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+v -0.04401070 -0.09556741 0.06563190
+v -0.04330621 -0.09552443 0.06550123
+v -0.04719853 -0.10350385 0.06408354
+v -0.04820062 -0.09556741 0.06532619
+v -0.04839925 -0.09992372 0.06445091
+v -0.05085013 -0.09812694 0.06395044
+v -0.05085013 -0.09146624 0.06497116
+v -0.05085013 -0.09556741 0.06448299
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+f 39 47 44
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+f 44 48 45
+f 45 48 46
+
diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_74.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8e45759f34a57f2d191751f33c57dda2978f101
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_74.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.04316401 0.02014899 -0.03968119
+v 0.02681239 0.02014901 -0.04512093
+v 0.04316401 0.02014901 -0.04709423
+v 0.04316401 0.03773125 -0.03389927
+v 0.02681239 0.02014902 -0.04889866
+v 0.02681239 0.03773129 -0.04258527
+v 0.04100642 0.02014902 -0.04889866
+v 0.04316401 0.02727760 -0.04538811
+v 0.04316401 0.03773128 -0.04174251
+v 0.02681239 0.03773131 -0.04889859
+v 0.03984760 0.02341040 -0.04889864
+v 0.04316401 0.02842728 -0.04505776
+v 0.04277028 0.03773128 -0.04209194
+v 0.04316401 0.03639575 -0.04233861
+v 0.02957501 0.03773131 -0.04889859
+v 0.03982838 0.02344999 -0.04889864
+v 0.03972436 0.02366167 -0.04889864
+v 0.04316401 0.03208451 -0.04382299
+v 0.03971314 0.03773129 -0.04386555
+v 0.03532753 0.03177644 -0.04889861
+v 0.04316401 0.03612210 -0.04243698
+v 0.03152612 0.03773131 -0.04806611
+v 0.03141728 0.03612384 -0.04889860
+v 0.03566046 0.03118441 -0.04889862
+v 0.04175069 0.02947710 -0.04561716
+v 0.03702736 0.03773130 -0.04539983
+v 0.03505703 0.03773130 -0.04636005
+f 1 2 5
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+f 1 7 3
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+f 1 12 18
+f 1 18 21
+f 1 21 14
+f 1 14 9
+f 1 9 4
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+f 2 10 5
+f 3 7 8
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+f 12 16 17
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+f 18 25 21
+f 19 20 26
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+f 22 27 23
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+
diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_75.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65c095c573880626c1f17d99ba3145d821cef3a7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_75.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.03142711 -0.10512575 0.06570677
+v 0.03456400 -0.10512575 0.06562083
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+v 0.04087662 -0.09047074 0.06123272
+v 0.03142711 -0.09644583 0.06174101
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+f 1 40 39
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+
diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_76.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29b952ea5112043895146d61057dd8e643242f73
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_76.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.02570926 0.05147782 -0.03711255
+v 0.02570926 0.03773129 -0.04282131
+v 0.02570926 0.05148458 -0.04063523
+v 0.02417297 0.05148457 -0.03767254
+v 0.00014777 0.05148458 -0.04065813
+v 0.00014777 0.03773130 -0.04509618
+v 0.02570926 0.03773132 -0.05086410
+v 0.02570926 0.05148459 -0.04411619
+v 0.00014777 0.05148461 -0.04794981
+v 0.00014777 0.03773132 -0.05086410
+v 0.02570926 0.04039311 -0.05086409
+v 0.02351992 0.04253387 -0.05086408
+v 0.02212625 0.04352615 -0.05086408
+v 0.02360498 0.05148460 -0.04495344
+v 0.00014777 0.04919712 -0.05086406
+v 0.00111106 0.05148461 -0.04794442
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+v 0.02163334 0.05148460 -0.04563591
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+v 0.00208690 0.05148461 -0.04793767
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+v 0.00627542 0.04894938 -0.05086406
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+v 0.01463744 0.05148460 -0.04699543
+v 0.01046644 0.04843373 -0.05086406
+v 0.02014957 0.05148460 -0.04600337
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+f 1 3 4
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+f 1 6 2
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+f 2 10 7
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+f 3 25 28
+f 3 28 29
+f 3 29 26
+f 3 26 22
+f 3 22 21
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+f 7 12 11
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+f 22 26 23
+f 23 26 27
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+f 24 28 25
+f 26 29 27
+f 27 29 28
+
diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_77.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..501044e53aede355cb0852db1e888d44e66aef8e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_77.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.02570926 0.04039311 -0.05086409
+v 0.02688816 0.03977917 -0.05086409
+v 0.02570926 0.03773132 -0.05086410
+v 0.02570926 0.05148459 -0.04411576
+v 0.02824136 0.03866570 -0.05086410
+v 0.02722817 0.05148459 -0.04356115
+v 0.03058723 0.05148459 -0.04219854
+v 0.02869926 0.03773132 -0.05086410
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+v 0.04316401 0.03773125 -0.03390188
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+v 0.04316401 0.04462070 -0.03817550
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+f 26 36 37
+f 26 37 28
+f 32 38 39
+f 33 39 34
+f 34 39 35
+f 35 39 38
+
diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_78.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d15e4cbea9278ff5bf66bf9660edf157383be4f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_78.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v -0.03123914 -0.11550235 0.06457952
+v -0.03123914 -0.11550231 0.05559960
+v -0.03123914 -0.11681078 0.06443689
+v -0.02452260 -0.12321791 0.06356791
+v 0.00014987 -0.12530587 0.06266244
+v 0.00014987 -0.12301957 0.06281003
+v 0.00014987 -0.12105970 0.06293277
+v -0.02724793 -0.11550235 0.06419479
+v -0.03123914 -0.11752967 0.05244211
+v -0.02740462 -0.11550230 0.05297279
+v -0.03123914 -0.12071676 0.06387138
+v -0.02596975 -0.12321791 0.06356791
+v -0.00629630 -0.12530587 0.06265912
+v -0.00629630 -0.12825602 0.06060608
+v 0.00014987 -0.12666939 0.06171221
+v 0.00014987 -0.11930227 0.06182333
+v -0.02486365 -0.11550234 0.06365582
+v 0.00014987 -0.11779965 0.06087311
+v -0.03123914 -0.12045365 0.04926305
+v -0.02317068 -0.11550231 0.05310710
+v 0.00014987 -0.11829406 0.05010220
+v -0.00210845 -0.11828993 0.05009556
+v -0.00629630 -0.11830370 0.05010384
+v -0.01048724 -0.11833538 0.05014199
+v -0.01467817 -0.11837257 0.05021993
+v -0.03123914 -0.12282676 0.06346343
+v -0.02876576 -0.12312838 0.06354467
+v -0.02310001 -0.12490234 0.06264420
+v -0.01467817 -0.12530587 0.06255796
+v -0.01048724 -0.12530587 0.06263094
+v -0.01048724 -0.12825050 0.06058122
+v -0.01048724 -0.12939638 0.05725124
+v -0.00629630 -0.12941018 0.05725124
+v -0.00210845 -0.12941841 0.05725124
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+v 0.00014987 -0.12825737 0.06060277
+v -0.02335810 -0.11550234 0.06229266
+v 0.00014987 -0.11706557 0.05892124
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+v -0.03123914 -0.12058450 0.04917352
+v -0.01467817 -0.12105965 0.04829128
+v -0.02290950 -0.11550231 0.05382186
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+v -0.02731860 -0.12490234 0.06249328
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+v -0.00210845 -0.12956714 0.05305068
+v -0.01048724 -0.12954513 0.05305068
+v 0.00014987 -0.12956989 0.05305068
+v -0.02299554 -0.11550234 0.06163265
+v -0.02174809 -0.11550232 0.05725130
+v -0.03123914 -0.12068778 0.04914532
+v -0.01886605 -0.12105965 0.04847868
+v -0.01886605 -0.12530582 0.04782693
+v -0.02305698 -0.12530582 0.04793803
+v 0.00014987 -0.12105965 0.04815364
+v 0.00014987 -0.12334456 0.04787835
+v 0.00014987 -0.12530582 0.04764451
+v -0.00210845 -0.12530581 0.04763953
+v -0.00629630 -0.12530582 0.04765942
+v -0.01048724 -0.12530582 0.04769924
+v -0.01467817 -0.12530582 0.04774899
+v -0.03123914 -0.12770648 0.05973215
+v -0.02724793 -0.12798468 0.06013512
+v -0.02305698 -0.12922975 0.05725125
+v -0.01886605 -0.12929583 0.05725125
+v -0.02305698 -0.12947351 0.05305068
+v -0.01886605 -0.12838130 0.04972904
+v -0.01467817 -0.12839370 0.04967928
+v -0.01048724 -0.12839783 0.04964280
+v -0.00629630 -0.12840196 0.04960964
+v -0.00210845 -0.12840610 0.04958808
+v 0.00014987 -0.12903415 0.05145204
+v -0.03123914 -0.12530582 0.04873902
+v -0.02724793 -0.12530582 0.04814533
+v -0.02305698 -0.12835100 0.04979205
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+v -0.03123914 -0.12844468 0.05725125
+v -0.02724793 -0.12902452 0.05725125
+v -0.02724793 -0.12926553 0.05305069
+v -0.02724793 -0.12822703 0.04995457
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+v -0.03123914 -0.12544630 0.04882524
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+v -0.03123914 -0.12790339 0.05056650
+v -0.03123914 -0.12785382 0.05041891
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+
diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_79.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8186842ebeaa7978f61859679bc51dd53c86f81
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_79.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.04978054 -0.07795208 0.04071363
+v 0.04087752 -0.08649303 0.04071360
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+v 0.04087752 -0.10512575 0.06516693
+v 0.04978054 -0.08241548 0.06414690
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+v 0.04669901 -0.10512574 0.06387772
+v 0.04978054 -0.10131675 0.06341537
+v 0.04396604 -0.10512575 0.06467032
+v 0.04399045 -0.10406443 0.06487337
+v 0.04087752 -0.09981659 0.06566356
+v 0.04817964 -0.09556871 0.06536511
+v 0.04817964 -0.09132352 0.06555106
+v 0.04978054 -0.08970097 0.06550457
+v 0.04087752 -0.09872335 0.06570271
+v 0.04619443 -0.10512575 0.06403672
+v 0.04978054 -0.09917288 0.06411504
+v 0.04701622 -0.10406443 0.06401229
+v 0.04838880 -0.09995222 0.06443794
+v 0.04978054 -0.09556871 0.06486852
+v 0.04978054 -0.09422280 0.06511805
+v 0.04978054 -0.09808764 0.06437190
+f 1 2 3
+f 1 3 7
+f 1 7 16
+f 1 16 25
+f 1 25 33
+f 1 33 42
+f 1 42 49
+f 1 49 48
+f 1 48 50
+f 1 50 45
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+f 1 29 20
+f 1 20 9
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+f 27 34 33
+f 28 29 35
+f 29 36 35
+f 30 37 38
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+f 31 39 32
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+f 31 40 41
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+f 40 48 49
+f 40 49 42
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+f 45 50 46
+f 46 50 47
+f 47 50 48
+
diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_8.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..622e36dc3d23459fca8029cdb4643ae541e47067
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_8.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.04399009 0.01063568 -0.06536504
+v 0.04684612 0.01063567 -0.06374566
+v 0.04721022 0.00639024 -0.06410482
+v 0.04747532 0.00213985 -0.06426442
+v 0.04757548 -0.00210805 -0.06429603
+v 0.04757321 -0.00230293 -0.06429438
+v 0.04399009 0.00639024 -0.06527361
+v 0.04316459 0.01144974 -0.06514557
+v 0.04316459 0.01943737 -0.06429430
+v 0.04342573 0.01913150 -0.06422946
+v 0.04435078 0.01514260 -0.06440239
+v 0.04645980 0.01389930 -0.06318702
+v 0.04820870 0.00639022 -0.06042549
+v 0.04875316 0.00213983 -0.06042550
+v 0.04897618 -0.00210807 -0.06042552
+v 0.04890960 -0.00230295 -0.06060009
+v 0.04399009 -0.00230293 -0.06494611
+v 0.04316459 0.00740658 -0.06500260
+v 0.04316459 0.02034764 -0.06399503
+v 0.04744176 0.01063566 -0.06042547
+v 0.04316459 0.02289836 -0.06029740
+v 0.04483780 0.01913148 -0.06042544
+v 0.04588633 0.01637355 -0.06042545
+v 0.04654288 0.01424957 -0.06042546
+v 0.04632100 0.01360821 -0.05777196
+v 0.04668055 0.01063565 -0.05700219
+v 0.04410958 0.01411633 -0.04837995
+v 0.04470636 0.01028286 -0.04837996
+v 0.04768186 0.00213982 -0.05622412
+v 0.04795836 -0.00210808 -0.05622414
+v 0.04795438 -0.00230296 -0.05622414
+v 0.04897048 -0.00230295 -0.06042552
+v 0.04316459 -0.00230293 -0.06435091
+v 0.04316459 0.02166491 -0.05793819
+v 0.04389622 0.01478980 -0.04837995
+v 0.04512568 0.00639018 -0.04837998
+v 0.04544257 0.00213979 -0.04837999
+v 0.04571566 -0.00210811 -0.04838001
+v 0.04571623 -0.00213278 -0.04838001
+v 0.04571850 -0.00230299 -0.04838001
+v 0.04316459 -0.00230299 -0.04838001
+v 0.04316459 0.01554959 -0.04837994
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 2
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+f 2 13 14
+f 2 14 3
+f 3 14 4
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+f 12 24 20
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+f 13 27 28
+f 13 28 14
+f 14 28 29
+f 14 29 30
+f 14 30 15
+f 15 30 31
+f 15 31 32
+f 15 32 16
+f 17 33 18
+f 20 24 25
+f 21 34 22
+f 22 34 35
+f 22 35 23
+f 23 35 25
+f 23 25 24
+f 25 27 26
+f 25 35 27
+f 27 35 42
+f 27 42 41
+f 27 41 40
+f 27 40 39
+f 27 39 38
+f 27 38 37
+f 27 37 36
+f 27 36 28
+f 28 36 29
+f 29 36 37
+f 29 37 30
+f 30 37 38
+f 30 38 39
+f 30 39 40
+f 30 40 31
+f 34 42 35
+
diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_80.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abea56cc06c5d56c0c8f2c72eee39946651fc9bd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_80.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.03123914 -0.11550027 0.05559883
+v -0.03123914 -0.10857123 0.05707441
+v -0.02675740 -0.10857122 0.05378624
+v -0.02740534 -0.11550026 0.05297144
+v -0.03123914 -0.11550031 0.06457949
+v -0.03123914 -0.10857126 0.06535789
+v -0.02308136 -0.10857122 0.05349282
+v -0.02317220 -0.11550027 0.05310724
+v -0.02724752 -0.11550031 0.06419392
+v -0.02750096 -0.10857126 0.06517603
+v -0.03123914 -0.11235936 0.06495171
+v -0.01990861 -0.10857123 0.05725386
+v -0.02291040 -0.11550027 0.05382138
+v -0.02486497 -0.11550030 0.06365681
+v -0.02352725 -0.10857126 0.06452736
+v -0.02724752 -0.10857126 0.06514570
+v -0.01902636 -0.10857124 0.06123192
+v -0.02175082 -0.11550028 0.05725384
+v -0.02339575 -0.10857126 0.06448735
+v -0.02336110 -0.11550030 0.06229279
+v -0.01902875 -0.10857125 0.06145501
+v -0.02081477 -0.10857125 0.06278506
+v -0.02299648 -0.11550030 0.06163199
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 13
+f 1 13 18
+f 1 18 23
+f 1 23 20
+f 1 20 14
+f 1 14 9
+f 1 9 5
+f 1 5 11
+f 1 11 6
+f 1 6 2
+f 2 6 10
+f 2 10 16
+f 2 16 15
+f 2 15 19
+f 2 19 22
+f 2 22 21
+f 2 21 17
+f 2 17 12
+f 2 12 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 5 9 10
+f 5 10 11
+f 6 11 10
+f 7 12 8
+f 8 12 13
+f 9 14 15
+f 9 15 16
+f 9 16 10
+f 12 17 18
+f 12 18 13
+f 14 19 15
+f 14 20 21
+f 14 21 22
+f 14 22 19
+f 17 21 18
+f 18 21 23
+f 20 23 21
+
diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_81.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..936b95050730b2164d95624e58910ebb8d11583b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_81.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.03560764 0.02763049 -0.06539248
+v 0.02681239 0.03654557 -0.06524069
+v 0.03157895 0.03630805 -0.06448831
+v 0.03573247 0.03192968 -0.06443021
+v 0.03979798 0.02338121 -0.06512447
+v 0.03979798 0.02014908 -0.06519876
+v 0.02681239 0.03629256 -0.06514705
+v 0.02681239 0.03773137 -0.06491456
+v 0.03881843 0.02014908 -0.06497921
+v 0.02999278 0.03773137 -0.06436077
+v 0.03089230 0.03773136 -0.06397329
+v 0.03442000 0.03501381 -0.06360519
+v 0.03829982 0.03054939 -0.06338726
+v 0.03973714 0.02729316 -0.06390390
+v 0.04255739 0.02014908 -0.06444318
+v 0.02681239 0.03613595 -0.06508891
+v 0.02681239 0.03773131 -0.04889859
+v 0.03665442 0.02014907 -0.06366983
+v 0.03257772 0.03773135 -0.06042460
+v 0.03277778 0.03756612 -0.06042460
+v 0.03479452 0.03544233 -0.06042461
+v 0.03688810 0.03296576 -0.06042462
+v 0.03849510 0.03084195 -0.06042463
+v 0.04197476 0.02565299 -0.06269302
+v 0.04251098 0.02338120 -0.06341149
+v 0.04316401 0.02035043 -0.06399595
+v 0.04316401 0.02014908 -0.06406054
+v 0.02681239 0.03325834 -0.06358420
+v 0.02957501 0.03773131 -0.04889859
+v 0.02681239 0.02014902 -0.04889866
+v 0.02681239 0.02014903 -0.05126069
+v 0.03141728 0.03612384 -0.04889860
+v 0.03532753 0.03177644 -0.04889861
+v 0.03816216 0.03040823 -0.05745069
+v 0.04185314 0.02543097 -0.05876330
+v 0.04082714 0.02729315 -0.06026803
+v 0.04197476 0.02565299 -0.06156448
+v 0.04316401 0.02289929 -0.06029710
+v 0.04316401 0.02014905 -0.05615104
+v 0.04100642 0.02014902 -0.04889866
+v 0.03566046 0.03118441 -0.04889862
+v 0.03972436 0.02366167 -0.04889864
+v 0.03982838 0.02344999 -0.04889864
+v 0.03984760 0.02341040 -0.04889864
+v 0.04254779 0.02259809 -0.05702610
+v 0.04316401 0.02166700 -0.05793831
+v 0.04277987 0.02376154 -0.06026804
+v 0.04316242 0.02014905 -0.05611715
+f 1 2 3
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+f 1 4 5
+f 1 5 6
+f 1 6 2
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+f 44 48 46
+
diff --git a/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_9.obj b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f36a77ae7633d564cc62ac46a53971933febe117
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/mjcf/mesh/metal_colander_collision_9.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v -0.02806442 -0.10155538 0.04043941
+v -0.02806442 -0.09513910 0.04044449
+v -0.03144125 -0.10044507 0.04044447
+v -0.03144125 -0.10044507 0.04043941
+v -0.03144125 -0.09923550 0.03623732
+v -0.02806442 -0.10032219 0.03623731
+v -0.02806442 -0.09374530 0.04044450
+v -0.03156616 -0.10039307 0.04044447
+v -0.03428501 -0.09806375 0.03623732
+v -0.03358913 -0.09771883 0.03406294
+v -0.03115799 -0.09810628 0.03240942
+v -0.02957219 -0.09778024 0.02970409
+v -0.02806442 -0.09875355 0.03121603
+v -0.05085013 -0.07606985 0.04044456
+v -0.02806442 -0.07881954 -0.00131857
+v -0.05085013 -0.05328672 -0.01121442
+v -0.03574590 -0.09855515 0.04044448
+v -0.03637934 -0.09695815 0.03623732
+v -0.03589090 -0.09848427 0.04044448
+v -0.03727596 -0.09744009 0.03921066
+v -0.03524407 -0.09621161 0.03240943
+v -0.03390138 -0.08950707 0.01243555
+v -0.03104870 -0.09205847 0.01561113
+v -0.02939153 -0.09346645 0.01726974
+v -0.02806442 -0.09794089 0.02881411
+v -0.02806442 -0.09435473 0.01860468
+v -0.05085013 -0.08760781 0.04044452
+v -0.02806442 -0.07737372 -0.00541953
+v -0.02821387 -0.07521920 -0.01121450
+v -0.05085013 -0.06496168 -0.01121446
+v -0.03797407 -0.09361769 0.02948160
+v -0.03935468 -0.09629669 0.04044449
+v -0.04973270 -0.08874176 0.04043945
+v -0.03998590 -0.09462410 0.03642443
+v -0.03864320 -0.09408547 0.03203522
+v -0.04193972 -0.08496180 0.01308283
+v -0.04100518 -0.08439483 0.01028142
+v -0.03369617 -0.08078973 -0.00809453
+v -0.03276388 -0.08885975 0.00963415
+v -0.03139664 -0.09005512 0.01102981
+v -0.02806442 -0.09368378 0.01673877
+v -0.02921755 -0.08489088 -0.00357387
+v -0.02806442 -0.08575080 -0.00241590
+v -0.04973270 -0.08874176 0.04044451
+v -0.05085013 -0.08760781 0.04043946
+v -0.02806442 -0.07705718 -0.00633983
+v -0.02806442 -0.07666970 -0.01121450
+v -0.04934015 -0.06685633 -0.01121447
+v -0.05038176 -0.06806115 -0.00803381
+v -0.05085013 -0.06662481 -0.00900469
+v -0.04252630 -0.08534454 0.01522181
+v -0.04617523 -0.08924728 0.03400228
+v -0.04149364 -0.09310272 0.03515014
+v -0.05085013 -0.08640769 0.03709700
+v -0.05060926 -0.08525954 0.03331967
+v -0.04615516 -0.08499490 0.02139097
+v -0.04549943 -0.08446572 0.01858956
+v -0.04462286 -0.08381371 0.01522181
+v -0.04590313 -0.08053467 0.00933078
+v -0.04506671 -0.07998658 0.00682267
+v -0.04297238 -0.08145128 0.00682266
+v -0.03685218 -0.07733590 -0.01121450
+v -0.03569014 -0.07861160 -0.01006157
+v -0.03543144 -0.07822417 -0.01121451
+v -0.03144125 -0.08024637 -0.01121451
+v -0.03144125 -0.08128113 -0.00907552
+v -0.03171337 -0.08439949 -0.00193551
+v -0.02806442 -0.08439477 -0.00520718
+v -0.02806442 -0.07898013 -0.01121451
+v -0.04748670 -0.06875096 -0.01121447
+v -0.04695809 -0.07291352 -0.00474698
+v -0.04605925 -0.07642405 0.00058782
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