diff --git a/.gitattributes b/.gitattributes
index c97a507bfec381ea2e5f4aea3ca90b4818488d1e..a37b1212463a0976a1115f212d37d7bcd2377fc9 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4212,3 +4212,6 @@ dataset/kitchen_supplies/tableware/57bf72d87cce5c8684c8e217df6cb481/spoon_016.us
dataset/kitchen_supplies/tableware/5ec47cd32a0e549e875cf3c36ba307e7/5ec47cd32a0e549e875cf3c36ba307e7.usd filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/5ec47cd32a0e549e875cf3c36ba307e7/mesh/napkin.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/5ec47cd32a0e549e875cf3c36ba307e7/mesh/napkin_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/5e822600830456aba2d4e93d8ff8821f.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mesh/metal_colander.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mesh/metal_colander_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/5e822600830456aba2d4e93d8ff8821f.urdf b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/5e822600830456aba2d4e93d8ff8821f.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..931b220755d814e9b189b56198e84a672c05539e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/5e822600830456aba2d4e93d8ff8821f.urdf
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diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/5e822600830456aba2d4e93d8ff8821f.usd b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/5e822600830456aba2d4e93d8ff8821f.usd
new file mode 100644
index 0000000000000000000000000000000000000000..8b3aa7bd2de9acf3acc582aec60282d8b678b15b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/5e822600830456aba2d4e93d8ff8821f.usd
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+size 892294
diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mesh/material.mtl b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
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+newmtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mesh/material_0.png b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mesh/material_0.png
new file mode 100644
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diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mesh/metal_colander.glb b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mesh/metal_colander.glb
new file mode 100644
index 0000000000000000000000000000000000000000..69142ad2f5d43ab68de46012c8311f8b9739778f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mesh/metal_colander.glb
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+version https://git-lfs.github.com/spec/v1
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+size 3173292
diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mesh/metal_colander.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mesh/metal_colander.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5e00f7b2d28d63cb3fdb9e9184d9fe0a8e23da5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mesh/metal_colander.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mesh/metal_colander_collision.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mesh/metal_colander_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3974d7b3e7cb092f4a3ae85a3a263d26dd7e5062
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mesh/metal_colander_collision.obj
@@ -0,0 +1,22910 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mesh/metal_colander_gs.ply b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mesh/metal_colander_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f5fd2aae71ef519e685c825fca544d5b3a18dc25
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diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be267c9af0bd66d6db448b301196897d0a34819f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision.obj
@@ -0,0 +1,22910 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_0.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e48dd0f3cc2d7f7fd5f4acc1845a672a174868d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_0.obj
@@ -0,0 +1,556 @@
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diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_1.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..427295272c5b0627853ffa485f84e0e06f273520
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_1.obj
@@ -0,0 +1,280 @@
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diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_10.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6792e3166dd43e8540db1e1247920d36fba6a0a3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_10.obj
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diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_11.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aed92cf79a30f50540a759c0198db4adab89c348
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_11.obj
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diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_12.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9551911de5be352ba710f80ec50e3fa858340b44
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_12.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_13.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6848ef9bcf207c602efb6ca798471bc40586701
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_13.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_14.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23db700b9da8c492317769ee3d5d9f7601ecbf88
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_14.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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+v -0.02767592 -0.07479206 0.06024481
+v -0.02535868 -0.07479206 0.06062029
+v -0.02243737 -0.07479206 0.06064588
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+v -0.01640438 -0.07479206 0.06052925
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+v -0.03678766 -0.06007372 0.03183198
+v -0.03595298 -0.07152730 0.05953941
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+v -0.01042997 -0.06940699 0.03183195
+v -0.00744644 -0.06971501 0.03183194
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+
diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_15.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..252d61b6aee28552df1c14b344f7971f5d809ba6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_15.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.01841449 -0.04116514 -0.05882467
+v 0.01644241 -0.04095013 -0.05718524
+v 0.01800656 -0.04169080 -0.05926496
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+v 0.01265995 -0.02642997 -0.04390472
+v 0.01072360 -0.02735157 -0.04390472
+v 0.01047168 -0.02747104 -0.04390472
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+v 0.00535823 -0.02915038 -0.04390473
+v 0.00481490 -0.02929033 -0.04390473
+v 0.01841449 -0.03896357 -0.05625796
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+v 0.00924596 -0.04469791 -0.05947179
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+v 0.00748632 -0.04487540 -0.05876966
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+
diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_16.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33edf49a29813425104cd05d8de848d561e2b1dd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_16.obj
@@ -0,0 +1,514 @@
+# https://github.com/mikedh/trimesh
+v -0.05967869 -0.03086464 0.03180581
+v -0.06742356 0.00005807 0.03180592
+v -0.06375480 -0.03086464 0.03180581
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diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_17.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3af7869ed0b0e8a81fae5605bf6212d8f1f2c1b1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_17.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_18.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2ba85edee3a34545f319f5f83479886ef3faba7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_18.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_19.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..668889e0fefc000b0c466eb8e1ef7b02a5c0337e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_19.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_2.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17a9f003425ae9cd3f7fc31973617ae326edbb39
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_2.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_20.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ad4995a16d0660a97b65dc0b82cbf629a57985b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_20.obj
@@ -0,0 +1,634 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_21.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4902b5d6d637aee54bb01fab81991df941202912
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_21.obj
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diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_22.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5d2e603491646834adb268171c1c37e4bff3b80
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_22.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_23.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9989e408afc05d5370c90671f21234b45c234c34
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_23.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_24.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..400ed69024e121f4d8d00a89edd01ea47599e3bb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_24.obj
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diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_25.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffa44c843f87ccca4bf3b402549346b0830a5447
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_25.obj
@@ -0,0 +1,646 @@
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diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_26.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22beef5ba0683e3ace55df7a1cfea1b741833be1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_26.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_27.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52caf4b6a1f698e33499491fe1d254915a41044e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_27.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_28.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..253a65971d05bedf6f1aba2193fd0a5cfba345a3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_28.obj
@@ -0,0 +1,748 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_29.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71bb82ebcc289ac3add4724a10386dba141d0339
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_29.obj
@@ -0,0 +1,499 @@
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diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_3.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00d30735cf4496548ffe0d53ea335dac9677c3e9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_3.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_30.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cee91e20b7181d97a0317a9ef10d3d750379241
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_30.obj
@@ -0,0 +1,502 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_31.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c614cd578532b274fb1dde584181cbd0896fd5a8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_31.obj
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diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_32.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e1d2161e6f574344ef340d88848f17b476ffa1b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_32.obj
@@ -0,0 +1,523 @@
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diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_33.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de217ce8ebc3aadb7a6d1dba1ea073390e0b0f44
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_33.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_34.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d851c6568d0acd11fbf3a2fe011efd0860709ff2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_34.obj
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diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_35.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1e51d09bca88653c0dcbbd1e7a05f4cbd59838a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_35.obj
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diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_36.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52b5f450b96b27c107b8e45c2feccb69ec776a86
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_36.obj
@@ -0,0 +1,472 @@
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diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_37.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..559916c3b0733b0c503d614b56148d24fc92f1fd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_37.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_38.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b17e9360158db7e3a6d6f5b0e068a4c2e7cab6f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_38.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.00079112 -0.06960876 0.00170696
+v -0.00079112 -0.06936944 0.00423082
+v -0.01532010 -0.06964533 0.00472582
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+
diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_39.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41a63e404e1fbf5fb8a88fe7f5ebdfcaaf1026db
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_39.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_4.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..677cf1c42b66d6cffcbc717cc03c8bde21c075bb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_4.obj
@@ -0,0 +1,502 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_40.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6aac0741f1b4911a6b7d1e816293b85bec65e6c2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_40.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_41.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09866aae2edeb86f793431a62cab10f3f9f02cd4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_41.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.01724549 0.00005938 -0.03732086
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+
diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_42.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2606396c09372077dab0dbdd5d0d323af2e02b8b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_42.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+v -0.01634941 0.08195000 0.03184648
+v -0.01657072 0.08210701 0.03184648
+v -0.01644214 0.08202226 0.03184648
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+f 16 47 48
+f 16 48 35
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+f 17 51 49
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+f 20 52 53
+f 20 53 51
+f 35 48 47
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+f 35 55 36
+f 36 55 37
+f 37 41 38
+f 37 55 56
+f 37 56 52
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+f 45 56 46
+f 46 56 55
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+f 49 59 61
+f 49 61 50
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+f 59 60 63
+f 59 63 64
+f 59 64 62
+
diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_43.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cd6ec668e16afd193540b4c03fbbe43c5077f48
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_43.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.01904431 -0.08095462 0.03000148
+v 0.02082534 -0.08032719 0.03000148
+v 0.01792471 -0.08095462 0.03000148
+v 0.01849970 -0.07168216 0.00558477
+v 0.02147029 -0.07877123 0.03000149
+v 0.02105704 -0.07157763 0.00877536
+v 0.02129204 -0.07180263 0.01064681
+v 0.01729892 -0.08089125 0.03000148
+v 0.01750356 -0.07168216 0.00558477
+v 0.01569149 -0.06947658 0.00168707
+v 0.01615688 -0.06942273 0.00168354
+v 0.01858088 -0.06920408 0.00265798
+v 0.01953478 -0.07005968 0.00469476
+v 0.02049000 -0.07091530 0.00678782
+v 0.02234561 -0.06995830 0.01362284
+v 0.02191061 -0.07591598 0.02851699
+v 0.02243473 -0.06597499 0.03000154
+v 0.02195286 -0.06995829 0.01064681
+v 0.02108609 -0.06892837 0.00579231
+v 0.02132771 -0.06993610 0.00773410
+v 0.01661833 -0.08014337 0.03000149
+v 0.01569149 -0.07057620 0.00386457
+v 0.01569149 -0.06905194 0.00110314
+v 0.01569149 -0.06795548 0.00036792
+v 0.02243473 -0.05341316 -0.00593583
+v 0.02243406 -0.06995831 0.01660236
+v 0.02217397 -0.07293717 0.02255791
+v 0.02243473 -0.06571833 0.02890750
+v 0.02243473 -0.06194727 0.03000155
+v 0.01619452 -0.07889795 0.03000149
+v 0.01569149 -0.07055722 0.00468068
+v 0.01570536 -0.07736737 0.03000150
+v 0.01569149 -0.05579304 -0.00593583
+v 0.01644406 -0.05560924 -0.00593583
+v 0.01764880 -0.05524481 -0.00593583
+v 0.01926742 -0.05474410 -0.00593583
+v 0.02148349 -0.05382831 -0.00593583
+v 0.02182146 -0.05368252 -0.00593583
+v 0.02243473 -0.04858370 -0.00593581
+v 0.02243473 -0.05354943 -0.00569312
+v 0.02243473 -0.06252396 0.01546617
+v 0.02243473 -0.05431947 -0.00427899
+v 0.02243473 -0.05893986 0.00455055
+v 0.02243473 -0.05961165 0.00597879
+v 0.02243473 -0.06020111 0.00753013
+v 0.02243473 -0.06119300 0.01066443
+v 0.02243473 -0.06195671 0.01341531
+v 0.01569149 -0.06397540 0.03000155
+v 0.01569149 -0.06775912 0.03000153
+v 0.01569149 -0.05122025 -0.00593582
+f 1 2 5
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+f 1 48 49
+f 1 49 32
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+f 1 30 21
+f 1 21 8
+f 1 8 3
+f 1 3 9
+f 1 9 4
+f 1 4 2
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+f 2 7 5
+f 3 8 9
+f 4 9 10
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+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 6
+f 5 15 16
+f 5 16 17
+f 5 7 18
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+f 8 22 9
+f 9 22 10
+f 10 23 11
+f 10 22 31
+f 10 31 49
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+f 10 33 24
+f 10 24 23
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+f 12 23 24
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+f 13 19 14
+f 15 26 27
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+f 16 27 17
+f 17 27 26
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+f 17 28 41
+f 17 41 47
+f 17 47 46
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+f 17 45 44
+f 17 44 43
+f 17 43 42
+f 17 42 40
+f 17 40 25
+f 17 25 39
+f 17 39 29
+f 18 20 25
+f 19 25 20
+f 21 30 22
+f 22 30 32
+f 22 32 31
+f 24 33 34
+f 24 34 35
+f 24 35 36
+f 24 36 37
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+f 24 38 25
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+f 25 35 34
+f 25 34 33
+f 25 33 50
+f 25 50 39
+f 25 40 26
+f 26 41 28
+f 26 40 42
+f 26 42 43
+f 26 43 44
+f 26 44 45
+f 26 45 46
+f 26 46 47
+f 26 47 41
+f 29 39 48
+f 31 32 49
+f 39 50 48
+
diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_44.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85c02160f8e228ec8a457a977efeb1063c6307bb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_44.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.00078905 -0.06998958 0.03183194
+v -0.00078905 -0.06639641 0.03183196
+v -0.00147202 -0.06998252 0.03183194
+v -0.00078905 -0.06994610 0.03149630
+v 0.00449887 -0.06955481 0.03000138
+v 0.00598627 -0.06942203 0.03000138
+v 0.00751008 -0.06925870 0.03000139
+v 0.00906428 -0.06902958 0.03000139
+v 0.01046974 -0.06879341 0.03000139
+v 0.01218785 -0.06850200 0.03000139
+v 0.01385130 -0.06818241 0.03000139
+v 0.01569084 -0.06776058 0.03000139
+v 0.01569084 -0.06397235 0.03000141
+v -0.01532010 -0.06444942 0.03183196
+v -0.00445597 -0.06988384 0.03183194
+v -0.00147202 -0.06993552 0.03149630
+v 0.01569084 -0.06482063 0.00791804
+v 0.00151189 -0.06963003 0.03000138
+v -0.00147202 -0.06446461 0.00751337
+v 0.01569084 -0.06717657 0.02247679
+v 0.01569084 -0.05798564 0.00791807
+v -0.01532010 -0.05955429 0.01213382
+v -0.01532010 -0.06844798 0.03183195
+v -0.00744293 -0.06971461 0.03183194
+v -0.00445597 -0.06982979 0.03149630
+v -0.00445597 -0.06712253 0.01958220
+v -0.00168756 -0.06445989 0.00751337
+v -0.00140525 -0.06446461 0.00751337
+v -0.00078905 -0.06445989 0.00751337
+v -0.00078905 -0.06017348 0.00751339
+v -0.01039042 -0.05894561 0.00751339
+v -0.01532010 -0.05863070 0.00751339
+v -0.01532010 -0.05903375 0.00988669
+v -0.01532010 -0.05918298 0.01062223
+v -0.01433052 -0.06870883 0.03183195
+v -0.01532010 -0.06696273 0.02089619
+v -0.00744293 -0.06965234 0.03149630
+v -0.01042684 -0.06940678 0.03183195
+v -0.00467148 -0.06432478 0.00751337
+v -0.01532010 -0.06264571 0.00751338
+v -0.01347451 -0.06890036 0.03183195
+v -0.01532010 -0.06332015 0.00786567
+v -0.01042684 -0.06385479 0.00751338
+v -0.00766450 -0.06410270 0.00751337
+v -0.01306168 -0.06897319 0.03183195
+v -0.01343504 -0.06316975 0.00751338
+f 1 2 14
+f 1 14 23
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+f 1 35 41
+f 1 41 45
+f 1 45 38
+f 1 38 24
+f 1 24 15
+f 1 15 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
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+f 1 9 10
+f 1 10 11
+f 1 11 12
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+f 16 27 19
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+f 17 30 21
+f 19 27 39
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+f 19 31 30
+f 19 30 29
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+f 21 30 31
+f 21 31 32
+f 21 32 33
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+f 21 34 22
+f 23 36 35
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+f 36 42 43
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+f 36 38 45
+f 36 45 41
+f 40 46 42
+f 42 46 43
+
diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_45.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19c3351d9e45e326a12970cce32238671eed3518
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_45.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.00079112 0.06988434 0.03103179
+v -0.00007219 0.06988550 0.03103179
+v -0.00079112 0.06631766 0.03103177
+v -0.00079112 0.06999304 0.03150045
+v 0.01345652 0.07413906 0.04811416
+v 0.00151492 0.06988550 0.03103179
+v 0.02230532 0.06232539 0.03103176
+v -0.00079112 0.06854273 0.04518078
+v -0.00079112 0.07413904 0.05413421
+v 0.00779093 0.07413906 0.04955482
+v 0.01047224 0.07413906 0.04842371
+v 0.01647244 0.07413906 0.04835716
+v 0.00198517 0.06986468 0.03103179
+v 0.02230532 0.06634772 0.03103177
+v 0.02230532 0.06454815 0.04332644
+v -0.00079112 0.06980677 0.05235220
+v -0.00079112 0.07413902 0.05902894
+v 0.01862698 0.07413906 0.04970235
+v 0.01309252 0.06878682 0.03103178
+v 0.01096962 0.06913261 0.03103178
+v 0.01047224 0.06920084 0.03103178
+v 0.00749250 0.06952467 0.03103179
+v 0.00494683 0.06971665 0.03103179
+v 0.00450144 0.06975018 0.03103179
+v 0.01942957 0.06716309 0.03103178
+v 0.02230532 0.07413903 0.05609269
+v 0.02230532 0.06512292 0.04647097
+v 0.02230532 0.06623433 0.05230879
+v -0.00079112 0.07046597 0.05533184
+v -0.00079112 0.07347170 0.05862971
+v 0.02230532 0.07301491 0.06051586
+v 0.01942957 0.07364520 0.06050431
+v 0.01644305 0.07413902 0.06028733
+v 0.01684547 0.06784541 0.03103178
+v 0.01388605 0.06860294 0.03103178
+v 0.02230532 0.07413902 0.06058531
+v 0.02230532 0.06693053 0.05522190
+v 0.02230532 0.06695943 0.05534053
+v -0.00079112 0.07063947 0.05575710
+v -0.00079112 0.07304845 0.05837516
+v 0.02230532 0.06797137 0.05742917
+v 0.02016660 0.07413902 0.06054771
+v 0.01943411 0.07413902 0.06049850
+v -0.00079112 0.07122812 0.05719776
+f 1 2 6
+f 1 6 13
+f 1 13 24
+f 1 24 23
+f 1 23 22
+f 1 22 21
+f 1 21 20
+f 1 20 19
+f 1 19 35
+f 1 35 34
+f 1 34 25
+f 1 25 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 29
+f 1 29 39
+f 1 39 44
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+f 1 40 30
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+f 1 17 9
+f 1 9 4
+f 1 4 5
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+f 7 27 15
+f 7 15 16
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+f 12 24 13
+f 14 25 18
+f 14 18 26
+f 15 27 16
+f 16 27 28
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+f 17 31 32
+f 17 32 33
+f 18 25 34
+f 18 34 35
+f 18 35 19
+f 28 37 29
+f 29 37 38
+f 29 38 39
+f 30 40 31
+f 31 36 32
+f 31 40 41
+f 32 36 42
+f 32 42 43
+f 32 43 33
+f 38 41 44
+f 38 44 39
+f 40 44 41
+
diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_46.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..175eeaa4f2cc6d437378be982b17f0a673ccba34
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_46.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.02230532 0.04875532 -0.00591206
+v 0.01376959 0.05192804 -0.00591205
+v 0.02230532 0.05352093 -0.00591204
+v 0.02230532 0.06232740 0.03103176
+v 0.01376959 0.06471020 0.03103177
+v 0.01376959 0.05632807 -0.00591203
+v 0.02230532 0.05434348 -0.00443660
+v 0.02147480 0.05392569 -0.00591204
+v 0.01437032 0.06827147 0.00030438
+v 0.01852708 0.06928009 0.00267662
+v 0.02050976 0.07096110 0.00662922
+v 0.02113141 0.07178690 0.00861456
+v 0.02183326 0.07006995 0.01064690
+v 0.02203796 0.07006994 0.01362308
+v 0.02229697 0.07304680 0.02255890
+v 0.02230532 0.06634553 0.03103177
+v 0.01376959 0.06862715 0.03103178
+v 0.01481064 0.05607346 -0.00591203
+v 0.01376959 0.06760558 0.00011270
+v 0.02230532 0.05916456 0.00459686
+v 0.02119492 0.05403666 -0.00591204
+v 0.01376959 0.06906140 0.00102761
+v 0.01376959 0.06956079 0.00154114
+v 0.01644410 0.06972725 0.00212697
+v 0.01921304 0.05480047 -0.00591204
+v 0.01770241 0.05527704 -0.00591204
+v 0.01644410 0.05566873 -0.00591204
+v 0.01851874 0.07178364 0.00563478
+v 0.02137957 0.07206434 0.01064690
+v 0.02008951 0.08194473 0.03103183
+v 0.02119576 0.08107976 0.03103183
+v 0.02129266 0.08087088 0.03103183
+v 0.02162104 0.07237769 0.01362309
+v 0.02167784 0.07899074 0.03103182
+v 0.02176724 0.07854030 0.03103182
+v 0.02230532 0.06587876 0.02871012
+v 0.02230532 0.06522923 0.02553868
+v 0.02230532 0.06457966 0.02281562
+v 0.02230532 0.06453398 0.02264206
+v 0.02230532 0.06210551 0.01355073
+v 0.02230532 0.06134823 0.01076621
+v 0.02230532 0.06131560 0.01064687
+v 0.02230532 0.06037880 0.00764897
+v 0.02230532 0.06021559 0.00721500
+v 0.01571635 0.07910498 0.03103182
+v 0.01376959 0.07000469 0.00485002
+v 0.01747265 0.07178364 0.00563478
+v 0.01666888 0.08155959 0.03103183
+v 0.01960826 0.08210144 0.03103183
+f 1 2 6
+f 1 6 18
+f 1 18 27
+f 1 27 26
+f 1 26 25
+f 1 25 21
+f 1 21 8
+f 1 8 3
+f 1 3 7
+f 1 7 20
+f 1 20 44
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+f 3 14 15
+f 3 15 7
+f 4 16 35
+f 4 35 34
+f 4 34 32
+f 4 32 31
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+f 4 49 48
+f 4 48 45
+f 4 45 17
+f 4 17 5
+f 6 9 18
+f 6 19 9
+f 7 15 20
+f 8 21 9
+f 9 19 22
+f 9 22 23
+f 9 23 24
+f 9 24 10
+f 9 21 25
+f 9 25 26
+f 9 26 27
+f 9 27 18
+f 10 28 11
+f 10 24 28
+f 11 28 12
+f 12 29 13
+f 12 28 30
+f 12 30 31
+f 12 31 32
+f 12 32 29
+f 13 29 33
+f 13 33 15
+f 13 15 14
+f 15 33 32
+f 15 32 34
+f 15 34 35
+f 15 35 16
+f 15 16 36
+f 15 36 37
+f 15 37 38
+f 15 38 39
+f 15 39 40
+f 15 40 41
+f 15 41 42
+f 15 42 43
+f 15 43 44
+f 15 44 20
+f 17 45 46
+f 23 47 28
+f 23 28 24
+f 23 46 45
+f 23 45 48
+f 23 48 49
+f 23 49 47
+f 28 49 30
+f 28 47 49
+f 29 32 33
+
diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_47.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdb48f36d0d0662b6abbe0cac4a998aebecfbf8e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_47.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v -0.01487506 0.02283194 -0.03698282
+v -0.01612613 0.02225697 -0.03698282
+v -0.01910818 0.03113703 -0.03015284
+v -0.01890302 0.03113703 -0.03021360
+v -0.01640272 0.03113703 -0.03094443
+v -0.01614444 0.03113703 -0.03100896
+v -0.01487506 0.03113703 -0.03130512
+v -0.01487506 0.01353206 -0.03698285
+v -0.01782232 0.02084541 -0.03698282
+v -0.02776675 0.03061678 -0.02704541
+v -0.02642410 0.03113702 -0.02734155
+v -0.02549362 0.03113702 -0.02774777
+v -0.02509793 0.03113702 -0.02791673
+v -0.02257200 0.03113703 -0.02893039
+v -0.02232287 0.03113703 -0.02902527
+v -0.01948369 0.03113703 -0.03002759
+v -0.01487506 0.03113702 -0.02653670
+v -0.01487506 0.01808617 -0.03397409
+v -0.02043619 0.00005833 -0.03698290
+v -0.01941959 0.01946122 -0.03698283
+v -0.02680511 0.02682628 -0.02954734
+v -0.02975786 0.02977108 -0.02654808
+v -0.02825220 0.03113702 -0.02648544
+v -0.01487506 0.02128651 -0.03201317
+v -0.03358619 0.03113698 -0.01759401
+v -0.03358619 0.00005829 -0.02757894
+v -0.02611090 0.00005831 -0.03206071
+v -0.02461804 0.00005831 -0.03317309
+v -0.01487506 0.01916308 -0.03328693
+v -0.02772282 0.00005833 -0.03698290
+v -0.03069571 0.02778453 -0.02706440
+v -0.02088679 0.01791276 -0.03698283
+v -0.03268679 0.02670459 -0.02651582
+v -0.03154747 0.02860898 -0.02613615
+v -0.03334988 0.03041295 -0.02397594
+v -0.03186070 0.03113701 -0.02444100
+v -0.03111701 0.03113701 -0.02489279
+v -0.02884016 0.03113702 -0.02618741
+v -0.03358619 0.03113701 -0.02330396
+v -0.03358619 0.00005831 -0.03223914
+v -0.02773564 0.00141513 -0.03698289
+v -0.02973404 0.02375976 -0.02950748
+v -0.02229904 0.01630347 -0.03698284
+v -0.03341766 0.02471804 -0.02697329
+v -0.03358619 0.02487015 -0.02679109
+v -0.03358619 0.02610527 -0.02620450
+v -0.03358619 0.02758375 -0.02542812
+v -0.03358619 0.02991101 -0.02410503
+v -0.03358619 0.03027910 -0.02389433
+v -0.03358619 0.03064417 -0.02365515
+v -0.03209516 0.03113701 -0.02428728
+v -0.03358619 0.00154592 -0.03224104
+v -0.02773564 0.00154594 -0.03698289
+v -0.02357029 0.01418613 -0.03698285
+v -0.03241387 0.02022175 -0.02934046
+v -0.03358619 0.02429216 -0.02703784
+v -0.03358619 0.02459027 -0.02691826
+v -0.03358619 0.00260156 -0.03220119
+v -0.03358619 0.00408613 -0.03211005
+v -0.03358619 0.00449074 -0.03207777
+v -0.03358619 0.00655332 -0.03185758
+v -0.03358619 0.00750553 -0.03174368
+v -0.02739310 0.00369676 -0.03698289
+v -0.02433778 0.01286278 -0.03698285
+v -0.03358619 0.01959202 -0.02881651
+v -0.03358619 0.02145078 -0.02814642
+v -0.03298722 0.01823824 -0.02967833
+v -0.02722825 0.00452726 -0.03698288
+v -0.03358619 0.01048378 -0.03126720
+v -0.02543683 0.01054466 -0.03698286
+v -0.03358619 0.01767850 -0.02946383
+v -0.03358619 0.01880410 -0.02909559
+v -0.02686924 0.00598142 -0.03698288
+v -0.03358619 0.01221783 -0.03089515
+v -0.02630507 0.00801052 -0.03698287
+v -0.02644976 0.00750555 -0.03698287
+v -0.03358619 0.01332517 -0.03064836
+v -0.03358619 0.01589274 -0.02999156
+v -0.03358619 0.01624260 -0.02990044
+v -0.03358619 0.01644035 -0.02984350
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 17
+f 1 17 24
+f 1 24 29
+f 1 29 18
+f 1 18 8
+f 1 8 19
+f 1 19 30
+f 1 30 41
+f 1 41 53
+f 1 53 63
+f 1 63 68
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+f 1 73 76
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+f 1 75 70
+f 1 70 64
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+f 1 32 20
+f 1 20 9
+f 1 9 2
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+f 2 10 11
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+f 2 12 13
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+f 2 14 15
+f 2 15 16
+f 2 16 3
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+f 3 15 14
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+f 3 23 38
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+f 3 36 51
+f 3 51 39
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+f 3 7 6
+f 3 6 5
+f 3 5 4
+f 8 18 19
+f 9 20 21
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+f 10 22 23
+f 10 23 11
+f 10 21 22
+f 17 25 26
+f 17 26 27
+f 17 27 28
+f 17 28 19
+f 17 19 24
+f 18 29 19
+f 19 28 27
+f 19 27 26
+f 19 26 40
+f 19 40 30
+f 19 29 24
+f 20 31 21
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+f 22 33 34
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+f 22 38 23
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+f 25 58 52
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+f 25 40 26
+f 30 40 41
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+f 32 43 42
+f 33 42 44
+f 33 44 45
+f 33 45 46
+f 33 46 47
+f 33 47 35
+f 33 35 34
+f 35 47 48
+f 35 48 49
+f 35 49 50
+f 35 50 39
+f 35 39 51
+f 35 51 36
+f 40 52 41
+f 41 52 53
+f 42 43 44
+f 43 54 55
+f 43 55 44
+f 44 55 56
+f 44 56 57
+f 44 57 45
+f 52 58 53
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+f 53 59 60
+f 53 60 61
+f 53 61 62
+f 53 62 63
+f 54 64 55
+f 55 65 66
+f 55 66 56
+f 55 64 67
+f 55 67 65
+f 62 68 63
+f 62 69 68
+f 64 70 71
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+f 65 67 72
+f 67 71 72
+f 68 69 73
+f 69 74 75
+f 69 75 76
+f 69 76 73
+f 70 77 78
+f 70 78 79
+f 70 79 80
+f 70 80 71
+f 70 75 77
+f 74 77 75
+
diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_48.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76aef8eed9e1136fba461fb0361af0f481a0d2a0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_48.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.01905760 -0.08270512 0.03183190
+v -0.01651039 -0.08205793 0.03183190
+v -0.01939596 -0.08270512 0.03183190
+v -0.02061560 -0.07148312 0.00609714
+v -0.01532010 -0.06936506 0.00156184
+v -0.01627046 -0.08184425 0.03183190
+v -0.01977918 -0.08254098 0.03183190
+v -0.02094446 -0.07148312 0.00609714
+v -0.01629634 -0.06930007 0.00149026
+v -0.01532010 -0.06859711 0.00027672
+v -0.01532010 -0.06964376 0.00472744
+v -0.01534081 -0.07930511 0.03183191
+v -0.01613924 -0.08161200 0.03183190
+v -0.02119651 -0.08159345 0.03183190
+v -0.02145631 -0.07171846 0.00766530
+v -0.02391287 -0.07150484 0.01189154
+v -0.02357365 -0.07072449 0.00990366
+v -0.02159702 -0.06989151 0.00493890
+v -0.02119392 -0.06885725 0.00286321
+v -0.01938732 -0.06928147 0.00230039
+v -0.01532010 -0.06840823 0.00014007
+v -0.01722166 -0.06814502 0.00034831
+v -0.01532010 -0.06844860 0.03183195
+v -0.02134842 -0.08126833 0.03183190
+v -0.02398796 -0.07161012 0.01362562
+v -0.02400349 -0.06982340 0.01079512
+v -0.02391805 -0.06873961 0.00893092
+v -0.02302468 -0.06982339 0.00783123
+v -0.02413816 -0.05570309 -0.00140526
+v -0.01937870 -0.06708290 0.00090790
+v -0.01629634 -0.06708290 -0.00012669
+v -0.01532010 -0.06704575 -0.00018852
+v -0.01837828 -0.06616013 0.00000996
+v -0.01532010 -0.06445098 0.03183196
+v -0.02200271 -0.07928651 0.03183191
+v -0.02404579 -0.07172470 0.01659928
+v -0.02412780 -0.06995656 0.01362562
+v -0.02413816 -0.05604990 -0.00085544
+v -0.02413816 -0.05107375 -0.00140525
+v -0.01965230 -0.05793262 -0.00140527
+v -0.01956772 -0.05797285 -0.00140527
+v -0.01640166 -0.05945302 -0.00140528
+v -0.01532010 -0.05933225 -0.00140528
+v -0.02413816 -0.06173221 0.03183197
+v -0.01532010 -0.05407740 -0.00140526
+v -0.02413816 -0.06589397 0.03183196
+v -0.02398194 -0.07167206 0.01957943
+v -0.02413816 -0.06109733 0.01230150
+v -0.02413816 -0.05988037 0.00830952
+v -0.02413816 -0.05853956 0.00459734
+v -0.02413816 -0.05730092 0.00169528
+v -0.02413816 -0.06585059 0.03155215
+v -0.02413816 -0.06584132 0.03149686
+v -0.02413816 -0.06559359 0.03014666
+v -0.02413816 -0.06548829 0.02962937
+v -0.02413816 -0.06385640 0.02246852
+v -0.02413816 -0.06332687 0.02031150
+v -0.02413816 -0.06264252 0.01762089
+v -0.02413816 -0.06237622 0.01662534
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+f 1 6 13
+f 1 13 12
+f 1 12 23
+f 1 23 34
+f 1 34 44
+f 1 44 46
+f 1 46 35
+f 1 35 24
+f 1 24 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 4 8 5
+f 5 8 9
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+f 5 10 21
+f 5 21 32
+f 5 32 43
+f 5 43 45
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+f 5 23 11
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+f 26 29 27
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+f 29 54 53
+f 29 53 52
+f 29 52 46
+f 29 46 44
+f 29 44 39
+f 29 39 45
+f 29 45 43
+f 29 43 42
+f 29 42 41
+f 29 41 40
+f 29 40 31
+f 29 31 33
+f 29 33 30
+f 29 37 38
+f 31 40 41
+f 31 41 42
+f 31 42 32
+f 32 42 43
+f 34 45 39
+f 34 39 44
+f 35 46 47
+f 35 47 36
+f 36 47 46
+f 36 46 37
+f 37 48 49
+f 37 49 50
+f 37 50 51
+f 37 51 38
+f 37 46 52
+f 37 52 53
+f 37 53 54
+f 37 54 55
+f 37 55 56
+f 37 56 57
+f 37 57 58
+f 37 58 59
+f 37 59 48
+
diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_49.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cde21dfe364736473545086bfe86e44031cf59cb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_49.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.00079253 0.05590340 -0.00177793
+v -0.01533584 0.05428933 -0.00123789
+v -0.01533584 0.05405461 -0.00177794
+v -0.00079253 0.06018093 -0.00177792
+v -0.00079253 0.06020085 0.00776526
+v -0.01533584 0.05859142 0.00776526
+v -0.01533584 0.05890289 -0.00177792
+v -0.00159986 0.06018555 -0.00177792
+v -0.00079253 0.06881581 0.00002630
+v -0.00079253 0.06440933 0.00776528
+v -0.01533584 0.06416231 0.00776528
+v -0.01385076 0.05923890 -0.00177792
+v -0.01533584 0.06808703 0.00012440
+v -0.00162548 0.06018555 -0.00177792
+v -0.00147174 0.06881428 0.00002817
+v -0.00079253 0.06972714 0.00170715
+v -0.00079253 0.06949085 0.00424105
+v -0.01533584 0.06956297 0.00469046
+v -0.00157423 0.06442775 0.00776528
+v -0.01104576 0.05958258 -0.00177792
+v -0.01341505 0.06863934 0.00016925
+v -0.01042924 0.06873139 0.00009449
+v -0.01533584 0.06850127 0.00025521
+v -0.01492435 0.06858259 0.00021501
+v -0.00196579 0.06016867 -0.00177792
+v -0.00744482 0.06878202 0.00005622
+v -0.00445754 0.06880045 0.00004032
+v -0.00445754 0.06970414 0.00170715
+v -0.00079253 0.06954762 0.00366174
+v -0.01533584 0.06958137 0.00386545
+v -0.00387379 0.06005821 -0.00177792
+v -0.01533584 0.06908430 0.00113535
+v -0.01533584 0.06931903 0.00157727
+v -0.01042924 0.06958752 0.00170715
+v -0.00744482 0.06967805 0.00170715
+v -0.01533584 0.06881885 0.00067004
+v -0.01341505 0.06945557 0.00170715
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 20
+f 1 20 31
+f 1 31 25
+f 1 25 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 16
+f 1 16 29
+f 1 29 17
+f 1 17 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 11
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+f 2 18 30
+f 2 30 33
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+f 2 32 36
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+f 2 7 3
+f 4 8 9
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+f 7 13 12
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+f 10 17 18
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+f 20 22 26
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+f 21 32 22
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+f 22 33 34
+f 22 34 35
+f 22 35 26
+f 23 36 24
+f 24 36 32
+f 25 31 26
+f 26 35 27
+f 27 35 28
+f 28 35 30
+f 30 34 37
+f 30 37 33
+f 30 35 34
+f 33 37 34
+
diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_5.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cde08cc5ce0d5753bfde0bef031437bdd8e4f7a3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_5.obj
@@ -0,0 +1,430 @@
+# https://github.com/mikedh/trimesh
+v -0.07947394 0.00154551 0.05830821
+v -0.07946171 0.00005798 0.05830820
+v -0.07906458 0.00005797 0.05946067
+v -0.07866131 0.00005797 0.06061926
+v -0.07866744 0.00154550 0.06061315
+v -0.07866131 0.00452641 0.06062541
+v -0.07943422 0.00452642 0.05830822
+v -0.06670720 0.00154567 0.01362589
+v -0.06669804 0.00005814 0.01362588
+v -0.07648007 0.00005797 0.06061926
+v -0.07611956 0.01346323 0.06080321
+v -0.07611956 0.01644121 0.06081548
+v -0.07860634 0.00750435 0.06062542
+v -0.07933645 0.00750436 0.05830823
+v -0.06592207 0.00452659 0.01132712
+v -0.06598012 0.00154568 0.01113708
+v -0.06633449 0.00005814 0.01238149
+v -0.06824080 0.02991367 0.05918493
+v -0.07033344 0.02991367 0.06051515
+v -0.07313179 0.02537803 0.06084616
+v -0.07498618 0.00005797 0.05946680
+v -0.06531719 0.02991368 0.05719264
+v -0.06596178 0.02991368 0.05763401
+v -0.07578962 0.02240006 0.06064386
+v -0.07833445 0.01346323 0.06055800
+v -0.07849942 0.01048526 0.06062543
+v -0.07911956 0.01048527 0.05830824
+v -0.06578766 0.00750453 0.01174397
+v -0.06326424 0.00780263 0.00439399
+v -0.06365526 0.00452661 0.00468822
+v -0.06381720 0.00154570 0.00468821
+v -0.06597401 0.00005815 0.01115548
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diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_50.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..531267a9cb2f7c4e850ab816ac71eb0687132bf5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_50.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.00147163 -0.04314388 -0.06094329
+v -0.00079112 -0.04314388 -0.06094002
+v -0.00147163 -0.04527386 -0.06019747
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+v -0.00079112 -0.04526598 -0.06018933
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+v -0.00147163 -0.04527387 -0.05812776
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+v -0.01558302 -0.04097446 -0.06067457
+v -0.01558302 -0.03852105 -0.06014046
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+v -0.00079112 -0.03928364 -0.05880679
+v -0.01558302 -0.03802930 -0.05986362
+v -0.01558302 -0.03694855 -0.05901032
+v -0.01558302 -0.01841520 -0.04431383
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+v -0.01558302 -0.02724800 -0.04459395
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+
diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_51.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4d3a99d76ea211f68415021f067b98aabfaa337
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_51.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.01376959 0.05881669 0.00808688
+v 0.01376959 0.06210682 0.00808689
+v 0.01376246 0.05861141 0.00808688
+v 0.01376959 0.05857855 0.00797586
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+v 0.01228729 0.05667045 -0.00591203
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+v 0.00656051 0.05766589 -0.00591203
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+v 0.00329946 0.05798373 -0.00591203
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+v -0.00079112 0.05808436 -0.00591203
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+f 1 5 2
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+
diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_52.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f751cfe31c7ab8db13c86a7572d6f2d93c0900a7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_52.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
+v -0.02774548 0.00005833 -0.03695144
+v -0.02048944 0.00005833 -0.03695144
+v -0.02774548 -0.00005304 -0.03695144
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+v -0.01683218 -0.03069306 -0.03111108
+v -0.03814346 -0.00441471 -0.02913118
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diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_53.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc4f78669bc03ce4122836c22bd2040d058cf469
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_53.obj
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diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_54.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13a10242a4845f7bf5654ce3af596c8634a10c3f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_54.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_55.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17bd70a28f5a4852e251d261a68446897ca1474c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_55.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.03018932 0.02498130 -0.02219909
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+
diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_56.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfe1773b2b8713a0fed8154c328d12b35d469d4e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_56.obj
@@ -0,0 +1,532 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_57.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0ccfcd5eb4464575bf74b3bd158c2f6a9647a3a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_57.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_58.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcf590fc6cfe80ec8c084ef07e4153b62e5d0342
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_58.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_59.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88cfc0007a376bb670b6f9066c90d6f639d9491c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_59.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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+v -0.00079112 0.02056649 -0.03516423
+v -0.01487322 0.01352924 -0.03698472
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+
diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_6.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2815e52a3df4c51b85310edc56675099d49d31f5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_6.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.01960799 0.08210295 0.03103272
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+v 0.01666850 0.08156165 0.03103272
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+
diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_60.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1d06aee361b43b9c5dc8128452c763bb360cbb1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_60.obj
@@ -0,0 +1,487 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_61.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f069c414adca75e17dfd4b722d77d45212b2a23
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_61.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_62.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69d02f11d9bd1fb66f7a3142ac8a1e06632e9105
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_62.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+v 0.01376959 0.06396775 0.00809146
+v 0.01234224 0.06864560 0.02973939
+v 0.00449891 0.06870723 0.02651282
+v 0.00151319 0.06930668 0.02851851
+v -0.01484581 0.06855260 0.03184407
+v -0.01533584 0.06665907 0.01944218
+v -0.01533584 0.05859067 0.00777090
+v 0.01376959 0.05881811 0.00809145
+v -0.00079166 0.06020189 0.00777090
+v -0.00157229 0.06442713 0.00777092
+v -0.01533584 0.06416383 0.00777092
+v -0.00445549 0.06982207 0.03149527
+v -0.00480594 0.06986354 0.03184408
+v -0.00079166 0.06440923 0.00777092
+v -0.01385437 0.06877668 0.03184407
+v -0.01333584 0.06887975 0.03184407
+v -0.01042702 0.06935148 0.03184407
+v -0.00779168 0.06962711 0.03184408
+v -0.00744409 0.06965960 0.03184408
+f 1 2 6
+f 1 6 21
+f 1 21 34
+f 1 34 40
+f 1 40 39
+f 1 39 38
+f 1 38 37
+f 1 37 36
+f 1 36 26
+f 1 26 15
+f 1 15 3
+f 1 3 4
+f 1 4 7
+f 1 7 2
+f 2 5 20
+f 2 20 6
+f 2 7 8
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+f 2 11 12
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+f 2 13 14
+f 2 14 5
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+f 4 22 7
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+f 8 22 23
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+f 9 22 10
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+f 16 28 17
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+f 19 32 20
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+f 20 34 21
+f 22 25 24
+f 22 29 30
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+f 22 35 25
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+f 27 38 39
+f 27 39 40
+f 27 40 34
+f 27 34 33
+f 28 32 31
+f 28 31 35
+f 28 35 30
+
diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_63.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..760393114348ca5b9a3c5784259b981ff261e40c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_63.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.01924025 -0.07479204 0.05372433
+v -0.01873886 -0.07479202 0.04943392
+v -0.01957573 -0.08187689 0.04639574
+v -0.01921361 -0.08483304 0.04584748
+v -0.01914216 -0.07511500 0.05372432
+v -0.00720304 -0.07479204 0.05372433
+v -0.01842277 -0.07953655 0.04584750
+v -0.01948488 -0.08187810 0.04584749
+v -0.01643290 -0.07479202 0.04825413
+v -0.01897260 -0.08482581 0.04636180
+v -0.01895081 -0.07574044 0.05372432
+v -0.01866980 -0.08579351 0.04584747
+v -0.00792606 -0.07567176 0.05372432
+v -0.00844320 -0.08485713 0.04584748
+v -0.00817190 -0.08404007 0.04584748
+v -0.00800960 -0.08283015 0.04584749
+v -0.00758333 -0.07479203 0.05142415
+v -0.01621369 -0.07911477 0.04584750
+v -0.01341481 -0.07479202 0.04815235
+v -0.01832344 -0.08381231 0.04829421
+v -0.01809575 -0.08062962 0.05103316
+v -0.01766824 -0.07640810 0.05372432
+v -0.01783052 -0.08643225 0.04584747
+v -0.00944843 -0.07627915 0.05372432
+v -0.01131110 -0.08074289 0.05113109
+v -0.01038582 -0.08647323 0.04584747
+v -0.00801570 -0.07479202 0.04975855
+v -0.00846984 -0.08212998 0.04584749
+v -0.01341481 -0.07931844 0.04584750
+v -0.01041366 -0.07479202 0.04845925
+v -0.01640018 -0.08562843 0.04716453
+v -0.01640018 -0.08413890 0.04860031
+v -0.01640018 -0.08237821 0.05008932
+v -0.01640018 -0.08088992 0.05122362
+v -0.01640503 -0.07697931 0.05372432
+v -0.01640018 -0.08690464 0.04584747
+v -0.01042940 -0.07659972 0.05372432
+v -0.01115729 -0.08386896 0.04835202
+v -0.01341481 -0.07889786 0.05267177
+v -0.01341481 -0.08097427 0.05129689
+v -0.01341481 -0.08246380 0.05013250
+v -0.01341481 -0.08418229 0.04864349
+v -0.01341481 -0.08567182 0.04722234
+v -0.01341481 -0.08710228 0.04584747
+v -0.01042094 -0.08039943 0.04584749
+v -0.01196996 -0.07983299 0.04584750
+v -0.01341481 -0.07726372 0.05372432
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 22
+f 1 22 35
+f 1 35 47
+f 1 47 37
+f 1 37 24
+f 1 24 13
+f 1 13 6
+f 1 6 17
+f 1 17 27
+f 1 27 30
+f 1 30 19
+f 1 19 9
+f 1 9 2
+f 2 7 8
+f 2 8 3
+f 2 9 7
+f 3 8 4
+f 4 10 11
+f 4 11 5
+f 4 8 7
+f 4 7 18
+f 4 18 29
+f 4 29 46
+f 4 46 45
+f 4 45 28
+f 4 28 16
+f 4 16 15
+f 4 15 14
+f 4 14 26
+f 4 26 44
+f 4 44 36
+f 4 36 23
+f 4 23 12
+f 4 12 10
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 7 9 18
+f 9 19 18
+f 10 12 20
+f 10 20 11
+f 11 20 21
+f 11 21 22
+f 12 23 20
+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 16 27 17
+f 16 28 27
+f 18 19 29
+f 19 30 29
+f 20 23 31
+f 20 31 32
+f 20 32 33
+f 20 33 21
+f 21 33 34
+f 21 34 35
+f 21 35 22
+f 23 36 31
+f 24 37 25
+f 25 38 26
+f 25 37 39
+f 25 39 40
+f 25 40 41
+f 25 41 42
+f 25 42 38
+f 26 38 42
+f 26 42 43
+f 26 43 44
+f 27 28 30
+f 28 45 30
+f 29 30 46
+f 30 45 46
+f 31 36 44
+f 31 44 32
+f 32 44 43
+f 32 43 42
+f 32 42 41
+f 32 41 33
+f 33 41 40
+f 33 40 34
+f 34 40 39
+f 34 39 47
+f 34 47 35
+f 37 47 39
+
diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_64.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee702d79d398f54ea4d2cbff8e822e9869279d13
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_64.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.01310284 -0.07942991 0.04584673
+v -0.01310284 -0.08474971 0.03737836
+v -0.01310284 -0.08699409 0.04584670
+v -0.01196880 -0.07983243 0.04584673
+v -0.00079231 -0.08330063 0.04205001
+v -0.00079231 -0.08330063 0.04158579
+v -0.00079231 -0.08337896 0.04124753
+v -0.00079231 -0.08364987 0.04009731
+v -0.01310284 -0.08475949 0.03736713
+v -0.00079231 -0.08513808 0.03792715
+v -0.01310284 -0.08720730 0.04570174
+v -0.00079231 -0.09002820 0.04285247
+v -0.00079231 -0.08783500 0.04430214
+v -0.01038523 -0.08647404 0.04584670
+v -0.01042019 -0.08039923 0.04584672
+v -0.00079231 -0.08450168 0.04317004
+v -0.01310284 -0.08763698 0.03703232
+v -0.00079231 -0.08575492 0.03779167
+v -0.00079231 -0.08783498 0.03733606
+v -0.01310284 -0.08869662 0.04423999
+v -0.00445835 -0.09002712 0.04285507
+v -0.00079231 -0.09054277 0.04043727
+v -0.00079231 -0.08715614 0.04411919
+v -0.00846906 -0.08213117 0.04584672
+v -0.00800872 -0.08283069 0.04584672
+v -0.00817018 -0.08404151 0.04584671
+v -0.00844255 -0.08485745 0.04584671
+v -0.00079231 -0.08485744 0.04349967
+v -0.01310284 -0.08794921 0.03718332
+v -0.00079231 -0.08983891 0.03835598
+v -0.01310284 -0.08987480 0.04275065
+v -0.01042864 -0.08997274 0.04284040
+v -0.00744230 -0.09001840 0.04286282
+v -0.00147202 -0.09054167 0.04043727
+v -0.00147202 -0.08983891 0.03835598
+v -0.00079231 -0.08999991 0.03883058
+v -0.01042864 -0.08978886 0.03837237
+v -0.01310284 -0.08970835 0.03842761
+v -0.00744230 -0.08982476 0.03835514
+v -0.01310284 -0.09025883 0.04043727
+v -0.01042864 -0.09043724 0.04043727
+v -0.00744230 -0.09051773 0.04043727
+v -0.00445835 -0.09053407 0.04043727
+v -0.00445835 -0.08983236 0.03835684
+v -0.01310284 -0.08977581 0.03864418
+f 1 2 9
+f 1 9 17
+f 1 17 29
+f 1 29 38
+f 1 38 45
+f 1 45 40
+f 1 40 31
+f 1 31 20
+f 1 20 11
+f 1 11 3
+f 1 3 14
+f 1 14 27
+f 1 27 26
+f 1 26 25
+f 1 25 24
+f 1 24 15
+f 1 15 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 10
+f 2 10 9
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 4 15 5
+f 5 16 28
+f 5 28 23
+f 5 23 13
+f 5 13 12
+f 5 12 22
+f 5 22 36
+f 5 36 30
+f 5 30 19
+f 5 19 18
+f 5 18 10
+f 5 10 8
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+f 5 7 6
+f 5 15 16
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+f 11 20 12
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+f 13 24 25
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+f 13 27 14
+f 15 24 28
+f 15 28 16
+f 17 19 29
+f 19 30 29
+f 20 31 32
+f 20 32 33
+f 20 33 21
+f 21 33 34
+f 21 34 22
+f 22 34 35
+f 22 35 36
+f 23 28 24
+f 29 37 38
+f 29 30 35
+f 29 35 39
+f 29 39 37
+f 30 36 35
+f 31 40 41
+f 31 41 32
+f 32 41 42
+f 32 42 33
+f 33 42 43
+f 33 43 34
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+f 34 39 44
+f 34 44 35
+f 35 44 39
+f 37 41 38
+f 37 39 42
+f 37 42 41
+f 38 41 45
+f 39 43 42
+f 40 45 41
+
diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_65.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21fe762d96ab84a55400e34bdcfad77f8fd66044
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_65.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.01639597 0.07602903 0.06072714
+v -0.00445451 0.07849554 0.06065533
+v -0.00744352 0.07841988 0.06065533
+v -0.02236913 0.07563350 0.06071790
+v -0.02236913 0.07486352 0.06071789
+v 0.02230532 0.07556692 0.06066954
+v 0.00449794 0.07851327 0.06065817
+v -0.00147523 0.07851853 0.06063899
+v -0.00147523 0.07903090 0.05831221
+v -0.00445451 0.07897153 0.05831221
+v -0.00744352 0.07884320 0.05831221
+v -0.01042768 0.07828006 0.06058991
+v -0.02535816 0.07523318 0.06057923
+v -0.02595793 0.07486352 0.06058989
+v -0.02309081 0.07486352 0.06069869
+v -0.01341671 0.07806363 0.06044201
+v 0.02016474 0.07413951 0.06054794
+v 0.02230532 0.07413951 0.06058419
+v 0.02230532 0.07566270 0.06066812
+v 0.00748699 0.07844815 0.06064752
+v 0.00449794 0.07900265 0.05831221
+v 0.00151381 0.07902706 0.05831221
+v 0.01227526 0.07861000 0.05387842
+v -0.01042768 0.07860089 0.05831221
+v -0.01342645 0.07692736 0.05346314
+v -0.02750851 0.07486352 0.06022652
+v -0.01639597 0.07781270 0.06019951
+v -0.01839516 0.07762740 0.05996697
+v -0.00079256 0.07413951 0.05903042
+v 0.01643941 0.07413951 0.06028981
+v 0.01943333 0.07413951 0.06049887
+v 0.02230532 0.07413952 0.05609423
+v 0.02230532 0.07602520 0.05831648
+v 0.01847764 0.07763650 0.05997407
+v 0.01643941 0.07784192 0.06022225
+v 0.01345529 0.07812301 0.06048964
+v 0.01047112 0.07832220 0.06061339
+v 0.00748699 0.07889252 0.05831221
+v 0.01353817 0.07859756 0.05387842
+v -0.01367513 0.07805360 0.05803560
+v -0.01639597 0.07781270 0.05883275
+v -0.01839516 0.07762740 0.05946777
+v -0.01094453 0.07675686 0.05346314
+v -0.01639597 0.07641593 0.05346314
+v -0.02749877 0.07486352 0.05901692
+v -0.00079256 0.07413953 0.05413726
+v 0.01932118 0.07413953 0.05387840
+v 0.01891646 0.07570391 0.05387841
+v 0.02230532 0.07490902 0.05648892
+v 0.01565438 0.07809380 0.05387842
+v 0.01520578 0.07836436 0.05387842
+v 0.01847764 0.07763650 0.05949622
+v 0.01047112 0.07866891 0.05831221
+v -0.01042768 0.07670470 0.05346314
+v -0.01680556 0.07626368 0.05346314
+v -0.02582140 0.07486353 0.05774545
+v -0.01866335 0.07554446 0.05346314
+v -0.01899979 0.07486354 0.05346313
+v 0.00591689 0.07413953 0.05387840
+v -0.00717047 0.07486354 0.05346313
+v -0.00795550 0.07588922 0.05346314
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 2 7 8
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 4 12 16
+f 4 16 13
+f 5 15 17
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+f 5 18 6
+f 6 18 32
+f 6 32 49
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+f 6 33 19
+f 6 19 7
+f 7 19 20
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+f 7 21 22
+f 7 22 9
+f 7 9 8
+f 9 22 23
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+f 10 23 11
+f 11 24 16
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+f 21 23 22
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+f 24 25 40
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+f 24 41 42
+f 24 42 28
+f 24 28 27
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+f 25 55 44
+f 25 44 41
+f 25 41 40
+f 25 39 43
+f 26 45 46
+f 26 46 29
+f 26 28 42
+f 26 42 45
+f 32 47 48
+f 32 48 49
+f 33 49 50
+f 33 50 51
+f 33 51 52
+f 33 52 34
+f 34 52 51
+f 34 51 39
+f 34 39 53
+f 34 53 35
+f 35 53 36
+f 36 53 38
+f 36 38 37
+f 38 53 39
+f 39 51 54
+f 39 54 43
+f 41 44 42
+f 42 44 45
+f 44 55 45
+f 45 56 46
+f 45 55 57
+f 45 57 56
+f 46 56 58
+f 46 58 59
+f 47 59 58
+f 47 58 60
+f 47 60 48
+f 48 60 61
+f 48 61 50
+f 48 50 49
+f 50 61 51
+f 51 61 54
+f 56 57 58
+
diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_66.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbfebd743ba54fc6793876bf3cb91b9608983d25
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_66.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.01019479 -0.08460702 0.04626471
+v 0.01019479 -0.08695788 0.04534745
+v 0.01019479 -0.08432536 0.04621222
+v -0.00079112 -0.08783540 0.04430241
+v 0.01019479 -0.08705875 0.04530455
+v 0.01019479 -0.08261925 0.04383943
+v 0.00898716 -0.08340519 0.04484685
+v -0.00079112 -0.08330044 0.04204954
+v -0.00079112 -0.08450147 0.04317072
+v -0.00079112 -0.08485682 0.04349982
+v -0.00079112 -0.08715648 0.04411947
+v -0.00079112 -0.09002796 0.04285213
+v 0.01019479 -0.08862677 0.04414923
+v 0.01019479 -0.08318018 0.04131083
+v -0.00079112 -0.08330044 0.04158654
+v -0.00079112 -0.09054236 0.04043731
+v 0.00151446 -0.09054392 0.04043731
+v 0.00151446 -0.09002796 0.04285301
+v 0.00450074 -0.09002254 0.04284949
+v 0.00748594 -0.08999770 0.04283900
+v 0.01019479 -0.08993876 0.04279786
+v 0.01019479 -0.08372018 0.03982117
+v 0.00450074 -0.08363330 0.04007149
+v 0.00151446 -0.08364181 0.04008637
+v -0.00079112 -0.08364958 0.04009687
+v -0.00079112 -0.08337880 0.04124783
+v -0.00079112 -0.09000002 0.03883037
+v 0.00151446 -0.08984175 0.03835514
+v 0.00450074 -0.08983556 0.03835689
+v 0.00450074 -0.09053305 0.04043731
+v 0.00748594 -0.09048728 0.04043731
+v 0.01019479 -0.08998376 0.04257467
+v 0.01019479 -0.08520982 0.03799368
+v 0.00748594 -0.08515784 0.03795867
+v 0.00450074 -0.08512293 0.03791401
+v 0.00151446 -0.08513146 0.03792190
+v -0.00079112 -0.08513922 0.03792715
+v -0.00079112 -0.08983942 0.03835600
+v 0.00450074 -0.08783538 0.03732323
+v 0.00748594 -0.08981536 0.03837263
+v 0.01019479 -0.08976883 0.03840237
+v 0.01019479 -0.09038254 0.04043731
+v 0.01019479 -0.08783538 0.03744840
+v 0.00748594 -0.08783538 0.03738360
+v 0.00151446 -0.08783538 0.03732934
+v -0.00079112 -0.08783538 0.03733547
+v 0.01019479 -0.08958493 0.03831046
+f 1 2 5
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+f 1 33 22
+f 1 22 14
+f 1 14 6
+f 1 6 3
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+f 4 10 9
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+f 17 19 18
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+f 22 36 37
+f 22 37 25
+f 22 25 24
+f 22 24 23
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+f 28 38 39
+f 29 39 40
+f 29 40 30
+f 30 40 31
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+f 31 41 42
+f 31 42 32
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+f 35 45 46
+f 35 46 37
+f 35 37 36
+f 38 46 45
+f 38 45 39
+f 39 44 47
+f 39 47 41
+f 39 41 40
+f 43 47 44
+
diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_67.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e476f0e7ee698f41014822fe49a2f0407748df41
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_67.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.00079224 0.08329870 0.04223239
+v -0.00079224 0.08329871 0.04101031
+v -0.00079224 0.08367692 0.04256435
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+v -0.01063316 0.07934039 0.04649077
+v -0.01216128 0.07868850 0.04649077
+v -0.00079224 0.08355008 0.03986089
+v -0.00079224 0.08496657 0.04368065
+v -0.00940890 0.08058073 0.04649078
+v -0.01216128 0.08358651 0.03915835
+v -0.00445837 0.08360058 0.03942225
+v -0.00079224 0.08362641 0.03952064
+v -0.01216128 0.08578172 0.04649080
+v -0.00873109 0.08189271 0.04649078
+v -0.00079224 0.08564548 0.04383055
+v -0.01216128 0.08437934 0.03798227
+v -0.00079224 0.08511461 0.03788479
+v -0.01020689 0.08503355 0.04649079
+v -0.00079224 0.08794530 0.04432803
+v -0.00079224 0.09015232 0.04287976
+v -0.01216128 0.08612471 0.04626091
+v -0.00872886 0.08193150 0.04649078
+v -0.01216128 0.08487263 0.03752616
+v -0.00079224 0.08730282 0.03739100
+v -0.00887131 0.08370863 0.04649079
+v -0.00079224 0.09068794 0.04043745
+v -0.00147226 0.09015116 0.04287793
+v -0.01216128 0.08772213 0.04499836
+v -0.01216128 0.08779146 0.03709767
+v -0.00079224 0.08794532 0.03724663
+v -0.00147226 0.09068557 0.04043745
+v -0.00445837 0.09014409 0.04286780
+v -0.00079224 0.08997029 0.03830963
+v -0.00147226 0.08997029 0.03830871
+v -0.01216128 0.08858544 0.04421678
+v -0.01216128 0.08985634 0.03838871
+v -0.01042837 0.08990452 0.03834089
+v -0.00744336 0.08994328 0.03830963
+v -0.00445837 0.08995736 0.03830780
+v -0.00445837 0.09066561 0.04043745
+v -0.00744336 0.09011826 0.04285125
+v -0.01216128 0.08925612 0.04359148
+v -0.01216128 0.09040957 0.04043745
+v -0.01042837 0.09052467 0.04043745
+v -0.00744336 0.09062686 0.04043745
+v -0.01042837 0.09005482 0.04280068
+v -0.01216128 0.08998790 0.04272712
+v -0.01216128 0.09018520 0.04173493
+f 1 2 7
+f 1 7 12
+f 1 12 17
+f 1 17 24
+f 1 24 30
+f 1 30 33
+f 1 33 26
+f 1 26 20
+f 1 20 19
+f 1 19 15
+f 1 15 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 4
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+f 4 14 22
+f 4 22 25
+f 4 25 18
+f 4 18 13
+f 4 13 6
+f 4 6 5
+f 4 8 9
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+f 6 13 21
+f 6 21 28
+f 6 28 35
+f 6 35 42
+f 6 42 47
+f 6 47 48
+f 6 48 43
+f 6 43 36
+f 6 36 29
+f 6 29 23
+f 6 23 16
+f 6 16 10
+f 8 14 9
+f 8 15 14
+f 10 16 11
+f 11 16 12
+f 12 16 17
+f 13 18 19
+f 13 19 20
+f 13 20 21
+f 14 15 19
+f 14 19 22
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+f 17 23 24
+f 18 25 19
+f 19 25 22
+f 20 26 27
+f 20 27 28
+f 20 28 21
+f 23 29 30
+f 23 30 24
+f 26 31 32
+f 26 32 27
+f 26 33 34
+f 26 34 31
+f 27 32 28
+f 28 32 35
+f 29 36 37
+f 29 37 38
+f 29 38 39
+f 29 39 34
+f 29 34 33
+f 29 33 30
+f 31 40 32
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+f 32 42 35
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+f 41 45 46
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+f 44 48 46
+f 44 46 45
+f 46 48 47
+
diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_68.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d75dafede3c2a5b6c292994d741b3fc8d69689c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_68.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.01345699 0.08624234 0.04653242
+v 0.01043263 0.08518310 0.04653241
+v 0.01067083 0.07827656 0.05387734
+v 0.01228042 0.07861068 0.05387734
+v 0.01354123 0.07859766 0.05387734
+v 0.01644322 0.08413093 0.04850022
+v 0.01644322 0.08562031 0.04703282
+v 0.01644322 0.08611085 0.04653242
+v 0.01009835 0.08490582 0.04653241
+v 0.00778069 0.07601586 0.05387733
+v 0.01521002 0.07836542 0.05387734
+v 0.01828840 0.08383709 0.04821624
+v 0.01695781 0.08594023 0.04653242
+v 0.00875856 0.08201479 0.04653240
+v 0.00591976 0.07413904 0.05387732
+v 0.01565884 0.07809530 0.05387734
+v 0.01807912 0.08067471 0.05099861
+v 0.01892143 0.07570424 0.05387733
+v 0.01876085 0.08475893 0.04653241
+v 0.00872830 0.08191883 0.04653240
+v 0.00778991 0.07413906 0.04955707
+v 0.01932282 0.07413904 0.05387732
+v 0.01936362 0.08197805 0.04653240
+v 0.00877962 0.08183353 0.04653240
+v 0.01039710 0.07980505 0.04653239
+v 0.01047079 0.07413906 0.04842685
+v 0.01862792 0.07413906 0.04970446
+v 0.01867663 0.07956570 0.04653239
+v 0.01058530 0.07957283 0.04653239
+v 0.01345699 0.07820667 0.04653239
+v 0.01345699 0.07413906 0.04811626
+v 0.01647216 0.07413906 0.04835997
+v 0.01856738 0.07922922 0.04653239
+v 0.01644322 0.07815573 0.04653239
+v 0.01698017 0.07830266 0.04653239
+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 13
+f 1 13 19
+f 1 19 23
+f 1 23 28
+f 1 28 33
+f 1 33 35
+f 1 35 34
+f 1 34 30
+f 1 30 29
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+f 1 25 24
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+f 1 14 9
+f 1 9 2
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+f 3 22 18
+f 3 18 16
+f 3 16 11
+f 3 11 5
+f 3 5 4
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+f 6 11 12
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+f 9 15 10
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+f 25 29 26
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+f 26 30 31
+f 27 32 33
+f 27 33 28
+f 30 34 31
+f 31 34 32
+f 32 34 35
+f 32 35 33
+
diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_69.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cc9f690bce6ed5d2dfc6fd1b60e0ce4d4a4a8ce
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_69.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.01341548 0.08608628 0.04649080
+v -0.01541986 0.08603684 0.04649080
+v -0.01341548 0.08402298 0.04840002
+v -0.01255120 0.08593467 0.04649080
+v -0.01640060 0.08598192 0.04649080
+v -0.01640060 0.08547433 0.04696979
+v -0.01640060 0.08398453 0.04833588
+v -0.01341548 0.08225851 0.04988958
+v -0.01153489 0.08069071 0.05100660
+v -0.01141598 0.08379448 0.04819872
+v -0.01020844 0.08503379 0.04649079
+v -0.01887454 0.08470855 0.04649079
+v -0.01820027 0.08374393 0.04811342
+v -0.01645086 0.08178941 0.04997898
+v -0.01548974 0.08066544 0.05097797
+v -0.01341548 0.08076874 0.05105644
+v -0.01094645 0.07675750 0.05346173
+v -0.01043034 0.07670477 0.05346173
+v -0.00795887 0.07588954 0.05346173
+v -0.00887218 0.08370769 0.04649079
+v -0.01893583 0.08459539 0.04649079
+v -0.01869799 0.08198716 0.04873438
+v -0.01866734 0.07554456 0.05346173
+v -0.01747942 0.08032157 0.05077529
+v -0.01343018 0.07692777 0.05346173
+v -0.01640060 0.07641580 0.05346173
+v -0.00753224 0.07533252 0.05346173
+v -0.00717306 0.07486340 0.05346172
+v -0.00872996 0.08193114 0.04649078
+v -0.01968119 0.08198717 0.04649078
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+v -0.01341548 0.07820117 0.04649077
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+v -0.01063384 0.07934047 0.04649077
+v -0.01640060 0.07787485 0.04649077
+v -0.01640552 0.07486342 0.04812293
+v -0.01341548 0.07486342 0.04810450
+v -0.01531688 0.07798801 0.04649077
+v -0.01594702 0.07486342 0.04811000
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 20
+f 1 20 29
+f 1 29 35
+f 1 35 39
+f 1 39 43
+f 1 43 50
+f 1 50 49
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+f 1 44 40
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+f 1 36 30
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+f 1 5 2
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+f 48 53 54
+f 51 54 53
+f 51 53 55
+f 51 55 52
+
diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_7.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3236bb3197fd0b4231fec5105527b60b43d9deb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_7.obj
@@ -0,0 +1,502 @@
+# https://github.com/mikedh/trimesh
+v 0.03727927 -0.06994864 0.06058614
+v 0.03981368 -0.06902094 0.06038911
+v 0.04332044 -0.06648135 0.06064528
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+v 0.03727927 -0.06990226 0.05830700
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+v 0.04862447 -0.06314931 0.06040884
+v 0.04630768 -0.06408477 0.06075694
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+v 0.03727927 -0.05484618 0.01510846
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+v 0.03727927 -0.05437459 0.01376198
+v 0.03727927 -0.05424702 0.01340074
+v 0.03727927 -0.05310671 0.01020207
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+v 0.03727927 -0.06662823 0.06073723
+v 0.04862447 -0.06314931 0.05904266
+v 0.05679288 -0.05658968 0.05973235
+v 0.03782687 -0.05291343 0.01064869
+v 0.03993302 -0.05142137 0.01064869
+v 0.04142842 -0.05025012 0.01064870
+v 0.03727927 -0.05210554 0.00775216
+v 0.03934682 -0.05097296 0.00836301
+v 0.06604948 -0.04512861 0.06019871
+v 0.06336060 -0.04840652 0.06041543
+v 0.06055588 -0.05156843 0.06046798
+v 0.05751599 -0.05506281 0.06035631
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+v 0.06430136 -0.04612200 0.06074387
+v 0.07274707 -0.03122844 0.06069797
+v 0.07292609 -0.03046308 0.06067824
+v 0.07101300 -0.03046308 0.06064541
+v 0.03727927 -0.06646588 0.06066498
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+v 0.03727927 -0.06412343 0.05933166
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+v 0.06604948 -0.04512861 0.05927261
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+v 0.03727927 -0.06384898 0.05914776
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+v 0.05150291 -0.04020382 0.01091147
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+v 0.03727927 -0.04784192 -0.00058279
+v 0.03860968 -0.04743217 0.00056666
+v 0.07213979 -0.03420870 0.05902962
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diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_70.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e34bebd8f9789607d696d3d45fd8a249c0f837c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_70.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_71.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c2e40261f0b64281f1ad192c90394461957132b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_71.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_72.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72d597eb04b9c67180ea791486781380192ffab5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_72.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v -0.01938700 -0.07494289 0.03183192
+v -0.01906271 -0.07500437 0.03183192
+v -0.02159851 -0.07613042 0.03183192
+v -0.01842288 -0.07953712 0.04584673
+v -0.01621484 -0.07911581 0.04584673
+v -0.01341578 -0.07931820 0.04584673
+v -0.01678843 -0.07608694 0.03183192
+v -0.01310370 -0.07942915 0.04584673
+v -0.02166826 -0.07631486 0.03183192
+v -0.01948549 -0.08187918 0.04584672
+v -0.01480092 -0.08001240 0.03271401
+v -0.01534138 -0.07916374 0.03183191
+v -0.01310370 -0.08699368 0.04584670
+v -0.01310370 -0.08474901 0.03737827
+v -0.02200822 -0.07889982 0.03183191
+v -0.02156974 -0.07891333 0.03447134
+v -0.02114348 -0.08288078 0.03985448
+v -0.02082704 -0.08388688 0.04184089
+v -0.02090291 -0.08587359 0.04198905
+v -0.02047577 -0.08487051 0.04315513
+v -0.02090291 -0.08638490 0.04198905
+v -0.01921439 -0.08483303 0.04584671
+v -0.01480092 -0.08078606 0.03271400
+v -0.01310370 -0.08475802 0.03736731
+v -0.01310370 -0.08763687 0.03703256
+v -0.01534138 -0.07930616 0.03183191
+v -0.01341578 -0.08710312 0.04584670
+v -0.01310370 -0.08714511 0.04574381
+v -0.02200213 -0.07928968 0.03183191
+v -0.02111996 -0.08487050 0.04068307
+v -0.02143201 -0.08188515 0.03746747
+v -0.01867044 -0.08579262 0.04584670
+v -0.02131170 -0.08495745 0.03752370
+v -0.02098222 -0.08650483 0.04043612
+v -0.01796348 -0.08936870 0.04200413
+v -0.01916471 -0.08755442 0.04298914
+v -0.01837493 -0.08673726 0.04534461
+v -0.01613987 -0.08161375 0.03183190
+v -0.01310370 -0.08794875 0.03718346
+v -0.01627063 -0.08184617 0.03183190
+v -0.01640137 -0.08690520 0.04584670
+v -0.01341578 -0.08722157 0.04573146
+v -0.01310370 -0.08720658 0.04570128
+v -0.02134831 -0.08127038 0.03183190
+v -0.02122282 -0.08403080 0.03509003
+v -0.01783099 -0.08643138 0.04584670
+v -0.02099353 -0.08651983 0.03855944
+v -0.01796348 -0.08936870 0.04109870
+v -0.01667773 -0.08966408 0.04023721
+v -0.01341578 -0.09023836 0.04043611
+v -0.01640137 -0.08959064 0.04235395
+v -0.01640137 -0.08856053 0.04384378
+v -0.01640137 -0.08707165 0.04567385
+v -0.01310370 -0.08970756 0.03842774
+v -0.01729052 -0.08370844 0.03263853
+v -0.01651034 -0.08205908 0.03183190
+v -0.01341578 -0.08871196 0.04422928
+v -0.01310370 -0.08869697 0.04424025
+v -0.02119667 -0.08159576 0.03183190
+v -0.02072944 -0.08328108 0.03310359
+v -0.02045222 -0.08601751 0.03657436
+v -0.01785626 -0.08931471 0.03911228
+v -0.01310370 -0.09025936 0.04043611
+v -0.01341578 -0.08986353 0.04273943
+v -0.01586704 -0.08953662 0.03863488
+v -0.01341578 -0.08969854 0.03843458
+v -0.01310370 -0.08977652 0.03864447
+v -0.01873930 -0.08370844 0.03263853
+v -0.01905660 -0.08270382 0.03183190
+v -0.01310370 -0.08987552 0.04275041
+v -0.01977928 -0.08254338 0.03183190
+v -0.01846211 -0.08664426 0.03565110
+v -0.01939572 -0.08270382 0.03183190
+f 1 2 7
+f 1 7 12
+f 1 12 26
+f 1 26 38
+f 1 38 40
+f 1 40 56
+f 1 56 69
+f 1 69 73
+f 1 73 71
+f 1 71 59
+f 1 59 44
+f 1 44 29
+f 1 29 15
+f 1 15 9
+f 1 9 3
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+f 1 5 6
+f 1 6 2
+f 2 6 8
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+f 3 9 10
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+f 4 10 22
+f 4 22 32
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+f 10 21 22
+f 11 23 26
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+f 11 14 24
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+f 13 27 28
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+f 50 64 51
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+f 50 65 66
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+f 52 64 57
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+f 54 67 66
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+f 54 68 55
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+f 55 69 56
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+f 61 72 62
+f 62 72 65
+f 63 70 64
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+f 68 72 73
+f 71 73 72
+
diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_73.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..893802fe8351b126c47a0f6128e6e43f33c2312c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_73.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.01569084 -0.06186215 0.00791407
+v 0.01569084 -0.06186212 -0.00034491
+v 0.01569084 -0.05798421 0.00791409
+v -0.00079112 -0.06186215 0.00791407
+v 0.01569084 -0.05579200 -0.00593583
+v 0.01398876 -0.06186212 -0.00046015
+v 0.00152887 -0.05808003 -0.00593584
+v 0.00446356 -0.05782893 -0.00593584
+v 0.00748537 -0.05743716 -0.00593584
+v 0.00844046 -0.05729130 -0.00593584
+v 0.01047166 -0.05695788 -0.00593584
+v 0.01215276 -0.05665157 -0.00593584
+v 0.01228344 -0.05662760 -0.00593584
+v 0.01234153 -0.05661407 -0.00593584
+v 0.01569084 -0.05122019 -0.00593582
+v -0.00079112 -0.06029200 0.00791408
+v -0.00079112 -0.06186212 0.00099318
+v 0.01329502 -0.06186212 -0.00046422
+v -0.00079112 -0.05809251 -0.00593584
+v 0.00003007 -0.05808834 -0.00593584
+v 0.00040600 -0.05808627 -0.00593584
+v -0.00079112 -0.05364987 -0.00593583
+f 1 2 5
+f 1 5 15
+f 1 15 3
+f 1 3 16
+f 1 16 4
+f 1 4 17
+f 1 17 18
+f 1 18 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 2 14 5
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+f 4 16 22
+f 4 22 19
+f 4 19 17
+f 5 14 13
+f 5 13 12
+f 5 12 11
+f 5 11 10
+f 5 10 9
+f 5 9 8
+f 5 8 7
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+f 5 21 20
+f 5 20 19
+f 5 19 22
+f 5 22 15
+f 6 18 19
+f 6 19 20
+f 6 20 21
+f 6 21 7
+f 15 22 16
+f 17 19 18
+
diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_74.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f50def3dc5f0cf19240f221b03f4a8acc444275
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_74.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.02070578 0.08496675 0.04021437
+v 0.02067816 0.08540187 0.04021437
+v 0.01940220 0.08198795 0.04639572
+v 0.01867649 0.07956497 0.04653239
+v 0.01856747 0.07922911 0.04653239
+v 0.01962170 0.08264421 0.04021436
+v 0.01992929 0.08496674 0.04341637
+v 0.01964485 0.08763835 0.04021438
+v 0.01884222 0.08742795 0.04341638
+v 0.01936486 0.08197837 0.04653240
+v 0.01698014 0.07830270 0.04653239
+v 0.01952462 0.08255216 0.04021436
+v 0.01882578 0.08488427 0.04630172
+v 0.01951566 0.08777104 0.04021438
+v 0.01827928 0.08676333 0.04524592
+v 0.01784026 0.08940987 0.04043767
+v 0.01593041 0.08971825 0.04238596
+v 0.01673303 0.08874166 0.04339352
+v 0.01876159 0.08475875 0.04653241
+v 0.01644408 0.07815567 0.04653239
+v 0.01642542 0.08197244 0.04021436
+v 0.01797690 0.08923295 0.04021439
+v 0.01644408 0.08708369 0.04554282
+v 0.01695778 0.08593977 0.04653242
+v 0.01774918 0.08934172 0.04021439
+v 0.01628432 0.08978161 0.04021439
+v 0.01634852 0.08980193 0.04043767
+v 0.01345837 0.09033863 0.04043767
+v 0.01345837 0.08995850 0.04272368
+v 0.01345837 0.07820708 0.04653239
+v 0.01342252 0.08293108 0.04021436
+v 0.01644408 0.08611069 0.04653242
+v 0.01345837 0.08874884 0.04421242
+v 0.01375477 0.09025139 0.04021439
+v 0.01345837 0.09028007 0.04021439
+v 0.01307834 0.09036734 0.04043767
+v 0.01307834 0.08997645 0.04274098
+v 0.01307834 0.07840908 0.04653239
+v 0.01307834 0.08304704 0.04021437
+v 0.01345837 0.08725940 0.04560032
+v 0.01345837 0.08624336 0.04653242
+v 0.01307834 0.08872491 0.04423037
+v 0.01307834 0.09030875 0.04021439
+v 0.01307834 0.08609994 0.04653242
+v 0.01307834 0.08723551 0.04556260
+f 1 2 3
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+f 1 4 5
+f 1 5 6
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+f 1 12 21
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+f 1 31 39
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+f 36 43 39
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+f 36 44 45
+f 36 45 42
+f 36 42 37
+f 40 42 41
+f 41 42 45
+f 41 45 44
+
diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_75.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecf5c5d7be0abb27ead0b783d33d994c375e3e73
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_75.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.02166334 -0.07596871 0.03000150
+v 0.02147070 -0.07877418 0.03000149
+v 0.02115655 -0.07412316 0.03000151
+v 0.02143846 -0.07601501 0.03135636
+v 0.02141532 -0.07896506 0.03440121
+v 0.02135827 -0.08191516 0.03697442
+v 0.02141696 -0.08199935 0.03440053
+v 0.02153188 -0.07917699 0.03122599
+v 0.02116316 -0.08384628 0.03534177
+v 0.02126237 -0.08108851 0.03203752
+v 0.02086552 -0.08035589 0.03005129
+v 0.02082583 -0.08032781 0.03000148
+v 0.01946501 -0.07357301 0.03000151
+v 0.02110612 -0.07422564 0.03026837
+v 0.02116068 -0.07707184 0.03335828
+v 0.02116565 -0.08000221 0.03643183
+v 0.02126401 -0.08102396 0.03697442
+v 0.02121442 -0.08455362 0.03697441
+v 0.02045461 -0.08588971 0.03697440
+v 0.02040007 -0.08583357 0.03678740
+v 0.01841009 -0.08664335 0.03563250
+v 0.01857626 -0.08372135 0.03264567
+v 0.01904336 -0.08095656 0.03000148
+v 0.01792560 -0.07365721 0.03000151
+v 0.01942946 -0.07398843 0.03057142
+v 0.01942946 -0.07524312 0.03206076
+v 0.01942946 -0.07673220 0.03372958
+v 0.01942946 -0.07967244 0.03697443
+v 0.02068530 -0.08025064 0.03697443
+v 0.02018760 -0.08611146 0.03697440
+v 0.01907809 -0.08695912 0.03697440
+v 0.01654409 -0.08790927 0.03697440
+v 0.01644406 -0.08674579 0.03558473
+v 0.01728983 -0.08372135 0.03264567
+v 0.01792394 -0.08095656 0.03000148
+v 0.01738243 -0.07381441 0.03000151
+v 0.01745188 -0.07404599 0.03050044
+v 0.01723278 -0.07684447 0.03360742
+v 0.01702528 -0.07973696 0.03674919
+v 0.01681279 -0.08004855 0.03697443
+v 0.01355459 -0.08768331 0.03697440
+v 0.01353224 -0.08767910 0.03697440
+v 0.01729892 -0.08089198 0.03000148
+v 0.01687481 -0.07454983 0.03000151
+v 0.01444582 -0.08194320 0.03697442
+v 0.01618199 -0.08050466 0.03697442
+v 0.01581077 -0.08080503 0.03697442
+v 0.01321810 -0.08428837 0.03697441
+v 0.01570495 -0.07737072 0.03000150
+v 0.01619438 -0.07890189 0.03000149
+v 0.01661852 -0.08014537 0.03000149
+v 0.01628202 -0.07589854 0.03000150
+f 1 2 12
+f 1 12 23
+f 1 23 35
+f 1 35 43
+f 1 43 51
+f 1 51 50
+f 1 50 49
+f 1 49 52
+f 1 52 44
+f 1 44 36
+f 1 36 24
+f 1 24 13
+f 1 13 3
+f 1 3 4
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+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
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+f 2 7 9
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+f 2 10 11
+f 2 11 12
+f 3 13 14
+f 3 14 4
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+f 4 16 5
+f 4 14 15
+f 5 16 17
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+f 6 28 40
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+f 22 35 23
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+f 28 38 39
+f 32 41 33
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+f 34 43 35
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+f 37 46 38
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+f 42 48 49
+f 42 49 50
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+f 44 52 48
+f 44 48 45
+f 48 52 49
+
diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_76.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a6e72d4e9fd55763adc02fb9420e8d9f3ac1080
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_76.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.00653329 -0.07446420 0.05366469
+v 0.00784970 -0.07446418 0.04950377
+v 0.01020702 -0.08459795 0.04628555
+v 0.00768727 -0.07591308 0.05366468
+v 0.01953366 -0.07446420 0.05366469
+v 0.00858784 -0.07446418 0.04893961
+v 0.01047991 -0.08126901 0.04628556
+v 0.01043444 -0.08165640 0.04628556
+v 0.01196657 -0.08631930 0.04628554
+v 0.01135061 -0.08385400 0.04834939
+v 0.01139219 -0.08073475 0.05112044
+v 0.01047214 -0.07691886 0.05366468
+v 0.01898785 -0.07569390 0.05366468
+v 0.01883450 -0.08173933 0.04932028
+v 0.01910090 -0.08482899 0.04628555
+v 0.01980917 -0.08198573 0.04628556
+v 0.01950767 -0.07446420 0.05341691
+v 0.01046693 -0.07446418 0.04820855
+v 0.01183534 -0.07951212 0.04628557
+v 0.01345712 -0.08415372 0.04862535
+v 0.01345712 -0.08656690 0.04628554
+v 0.01345712 -0.08564285 0.04718491
+v 0.01345712 -0.08243828 0.05011489
+v 0.01345712 -0.08094797 0.05126924
+v 0.01345583 -0.07722096 0.05366468
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+v 0.01650450 -0.07446418 0.04817823
+v 0.01743364 -0.07446418 0.04860083
+v 0.01430441 -0.07446418 0.04805903
+v 0.01628098 -0.07842456 0.04628557
+f 1 2 3
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+f 1 25 26
+f 1 26 13
+f 1 13 5
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+f 1 33 32
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+f 49 52 51
+
diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_77.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c84c69c29c76ab6e33dcb1813a0c4a2a06044f1d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_77.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.02135864 -0.08191579 0.03697442
+v 0.02126358 -0.08102479 0.03697442
+v 0.02134774 -0.08190054 0.03743836
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+v 0.02121439 -0.08455360 0.03697441
+v 0.01977302 -0.08188650 0.04628556
+v 0.01980908 -0.08198731 0.04628556
+v 0.02092808 -0.08335895 0.04200184
+v 0.02068550 -0.08025100 0.03697443
+v 0.01879937 -0.07933075 0.04628557
+v 0.02109527 -0.08301664 0.04043693
+v 0.02109419 -0.08511400 0.04073040
+v 0.02097835 -0.08642937 0.03993290
+v 0.02097835 -0.08642936 0.03877449
+v 0.02045490 -0.08588892 0.03697440
+v 0.02092808 -0.08429452 0.04200184
+v 0.01910096 -0.08482912 0.04628555
+v 0.02092152 -0.08628049 0.04191800
+v 0.01942879 -0.07967190 0.03697443
+v 0.01866164 -0.07923696 0.04628557
+v 0.01972712 -0.08751849 0.04073039
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+v 0.02018719 -0.08611167 0.03697440
+v 0.01767487 -0.08923834 0.04043690
+v 0.01907146 -0.08487601 0.04628555
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+v 0.01841908 -0.08670371 0.04532126
+v 0.01904413 -0.08733680 0.04341546
+v 0.01681158 -0.08004820 0.03697443
+v 0.01552538 -0.07840577 0.04628557
+v 0.01628048 -0.07842453 0.04628557
+v 0.01907801 -0.08695928 0.03697440
+v 0.01568600 -0.08953495 0.03862863
+v 0.01585867 -0.08959828 0.04237461
+v 0.01618213 -0.08968737 0.04043690
+v 0.01644332 -0.08640829 0.04628554
+v 0.01644332 -0.08702495 0.04563568
+v 0.01669027 -0.08865920 0.04338721
+v 0.01183505 -0.07951247 0.04628557
+v 0.01334418 -0.07877623 0.04628557
+v 0.01345891 -0.07874809 0.04628557
+v 0.01618104 -0.08050425 0.03697442
+v 0.01658539 -0.08840246 0.03756408
+v 0.01654274 -0.08790890 0.03697440
+v 0.01345891 -0.09017038 0.04043690
+v 0.01345891 -0.08968383 0.03844635
+v 0.01345891 -0.08981048 0.04267628
+v 0.01469048 -0.08652789 0.04628554
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+v 0.01019479 -0.08317959 0.04131099
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+v 0.01047235 -0.08976356 0.03840533
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+v 0.01355400 -0.08768262 0.03697440
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+v 0.01019479 -0.09038257 0.04043690
+v 0.01047235 -0.08993241 0.04279385
+v 0.01345891 -0.08656655 0.04628554
+v 0.01345891 -0.08717267 0.04569494
+v 0.01019479 -0.08862641 0.04414916
+v 0.01019479 -0.08993826 0.04279750
+v 0.01019479 -0.08261921 0.04383930
+v 0.01042427 -0.08165203 0.04615614
+v 0.01043410 -0.08165673 0.04628556
+v 0.01444571 -0.08194508 0.03697442
+v 0.01019479 -0.08520895 0.03799339
+v 0.01019479 -0.08958420 0.03831056
+v 0.01353214 -0.08767910 0.03697440
+v 0.01019479 -0.08998397 0.04257511
+v 0.01196618 -0.08631919 0.04628554
+v 0.01019479 -0.08705895 0.04530484
+v 0.01019479 -0.08432500 0.04621173
+v 0.01019479 -0.08460637 0.04626460
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+v 0.01321850 -0.08428980 0.03697441
+v 0.01019479 -0.08783503 0.03744836
+v 0.01019479 -0.08695815 0.04534677
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+f 75 79 76
+
diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_78.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff2e570f6cc031562c28aebe73522d5ce9864dc2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_78.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00079112 -0.07451147 0.04710387
+v -0.00079112 -0.07451147 0.05366541
+v -0.00079112 -0.07351147 0.04710387
+v -0.00079112 -0.07351147 0.05366541
+v 0.01985472 -0.07451147 0.04710387
+v 0.01985472 -0.07451147 0.05366541
+v 0.01985472 -0.07351147 0.04710387
+v 0.01985472 -0.07351147 0.05366541
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_79.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4281b42ca7a8d90cfb507588aaed541d15d6a47
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_79.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.01216229 0.08347379 0.03945913
+v -0.01216229 0.08358478 0.03915733
+v -0.01216229 0.09012480 0.03945915
+v -0.01350265 0.08271177 0.03945912
+v -0.01684903 0.07625168 0.03184646
+v -0.01668464 0.07641295 0.03184646
+v -0.01476233 0.08008838 0.03264604
+v -0.01216229 0.08437788 0.03798147
+v -0.01216229 0.08985551 0.03838761
+v -0.01341592 0.08982147 0.03842263
+v -0.01341592 0.09008044 0.03945915
+v -0.01438916 0.08228714 0.03945912
+v -0.01726958 0.07705362 0.03352607
+v -0.01938654 0.07500877 0.03184646
+v -0.01536343 0.07930862 0.03184647
+v -0.01476233 0.08099837 0.03264605
+v -0.01216229 0.08779142 0.03709621
+v -0.01216229 0.08487354 0.03752543
+v -0.01873906 0.08677785 0.03565803
+v -0.01657066 0.08210960 0.03184648
+v -0.01734623 0.08373128 0.03274740
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+v -0.01640224 0.08961729 0.03868342
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+v -0.02151962 0.08182552 0.03184648
+v -0.02220240 0.08198826 0.03447917
+v -0.02120696 0.08689474 0.03945914
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+f 15 29 16
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+f 17 30 31
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+f 47 48 50
+
diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_8.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5929af5744bc5b684ce5de2c6eb09f829a795fcc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_8.obj
@@ -0,0 +1,466 @@
+# https://github.com/mikedh/trimesh
+v -0.03818972 -0.06977385 0.05838762
+v -0.03818972 -0.06957201 0.06047555
+v -0.03977746 -0.06899308 0.06037180
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+v -0.03967436 -0.06893594 0.05830828
+v -0.03818972 -0.05317179 0.01134820
+v -0.03818972 -0.06697832 0.06067093
+v -0.04058165 -0.06726778 0.06069537
+v -0.04327598 -0.06649844 0.06059770
+v -0.04531049 -0.06585476 0.06024970
+v -0.05377843 -0.05957812 0.05966973
+v -0.04192195 -0.05070760 0.01184272
+v -0.04016580 -0.05263480 0.01360098
+v -0.03908326 -0.05376215 0.01457780
+v -0.03853682 -0.05340033 0.01259363
+v -0.03818972 -0.05291280 0.01065835
+v -0.07011630 -0.03086474 0.06061613
+v -0.07014724 -0.03420874 0.06090304
+v -0.05223536 -0.05803942 0.06096401
+v -0.03818972 -0.06532536 0.06017032
+v -0.04628994 -0.06410280 0.06076253
+v -0.04863718 -0.06317730 0.06043897
+v -0.05377843 -0.05957812 0.05986509
+v -0.05677176 -0.05661118 0.05964532
+v -0.04841722 -0.04530316 0.01362543
+v -0.04690510 -0.04679235 0.01362543
+v -0.04499088 -0.04783208 0.01164738
+v -0.04322789 -0.04906608 0.01074995
+v -0.04141675 -0.05030390 0.00985860
+v -0.04036856 -0.05143126 0.01076825
+v -0.03818972 -0.05277570 0.01032256
+v -0.07279001 -0.03086474 0.06062834
+v -0.06723983 -0.03086474 0.05882125
+v -0.06716077 -0.04016926 0.06092135
+v -0.07270411 -0.03123039 0.06062834
+v -0.05521840 -0.05506106 0.06094571
+v -0.05495375 -0.05778044 0.06026805
+v -0.05223536 -0.06021797 0.06031687
+v -0.03818972 -0.06499402 0.05998108
+v -0.05677176 -0.05661118 0.05987121
+v -0.05971352 -0.05359095 0.05974912
+v -0.04990874 -0.04372638 0.01362544
+v -0.04798421 -0.04486896 0.01166572
+v -0.04453723 -0.04739027 0.00965714
+v -0.04254742 -0.04830815 0.00766690
+v -0.04204222 -0.04783968 0.00572546
+v -0.03818972 -0.04738642 -0.00140523
+v -0.03942694 -0.05105038 0.00825295
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diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_80.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..793b667a1b57add5587ddcdc36b0a862e53c72c6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_80.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_9.obj b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96aa86a2ef00a474df5c1614b884500f6620d6a2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mjcf/mesh/metal_colander_collision_9.obj
@@ -0,0 +1,508 @@
+# https://github.com/mikedh/trimesh
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