diff --git a/.gitattributes b/.gitattributes
index 3937921f75a63af42644fd8d6646fab6a6ef64a4..cedc08b7756879ba6673a49c9b95ebf92e18f8c7 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4048,3 +4048,6 @@ dataset/kitchen_supplies/storage/f8200e56193351bf8d7a4ab080d339c2/mesh/storage_b
 dataset/kitchen_supplies/storage/f8200e56193351bf8d7a4ab080d339c2/storage_bin_098.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/ff1ffd4756b2567bad50667ca4a9ca16/mesh/storage_bin_035.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/ff1ffd4756b2567bad50667ca4a9ca16/storage_bin_035.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/01dbfbb228385981a0d162f2ac7664be.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mesh/metal_colander.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mesh/metal_colander_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/01dbfbb228385981a0d162f2ac7664be.urdf b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/01dbfbb228385981a0d162f2ac7664be.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e210a9aa67b34c1739a4adbc5ece4e3a4a2b0ae5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/01dbfbb228385981a0d162f2ac7664be.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="metal_colander">
+   <link name="metal_colander">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/metal_colander.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/metal_colander_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.0000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.289264</scale>
+         <version>v0.1.7</version>
+         <category>metal colander</category>
+         <description>perforated metal bowl with handles and small supporting legs</description>
+         <min_height>0.108</min_height>
+         <max_height>0.134</max_height>
+         <real_height>0.124</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.2</max_mass>
+         <generate_time>20260119192727</generate_time>
+         <gs_model>mesh/metal_colander_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.5334906578063965</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/01dbfbb228385981a0d162f2ac7664be.usd b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/01dbfbb228385981a0d162f2ac7664be.usd
new file mode 100644
index 0000000000000000000000000000000000000000..3b06ae9bac1ffeaca715a6a6feeb4ffdd4688807
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/01dbfbb228385981a0d162f2ac7664be.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1234bef1af062f45cace17888c21e885bbfb5dcc80c0954547d883f772e7219f
+size 927188
diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mesh/material.mtl b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mesh/material_0.png b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..54a195fa772bb049073f0bdbef350e63785dc064
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d85f2c23e2be9cb6785947256ee1f564ad0e9f42989f31a7f5430c1c7de60def
+size 3168489
diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mesh/metal_colander.glb b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mesh/metal_colander.glb
new file mode 100644
index 0000000000000000000000000000000000000000..1fc0119214aef6e7ef1f477dbdb3c4514dda3f54
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mesh/metal_colander.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84bfd55b5e2815ad30786a9f6294c3a1b5c2e1a04211f534eb35b47d02127db9
+size 3826444
diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mesh/metal_colander.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mesh/metal_colander.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48170965d8fd22abb55a61c7a7dc0273e67750ed
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mesh/metal_colander.obj
@@ -0,0 +1,60566 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mesh/metal_colander_collision.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mesh/metal_colander_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7b6956026e1d6092e56996cc075b2df5fab26a3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mesh/metal_colander_collision.obj
@@ -0,0 +1,26699 @@
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander.obj
@@ -0,0 +1,60566 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..877985071448aa529fee229e2fddfe7a4e991fe0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision.obj
@@ -0,0 +1,26699 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_0.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdbcd13f1587835c1204c65b7c2a85c25fdd6f09
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_0.obj
@@ -0,0 +1,448 @@
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_1.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd84c4be02d1c282f6e9b95a29cf7af7d45cbe82
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_1.obj
@@ -0,0 +1,691 @@
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_10.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..120ac31468930c0c87f72b44950d92f61ed40251
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_10.obj
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_11.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4eeb3185563a434464c95afa02e19887fbd2557
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_11.obj
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_12.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..539188e76f4c52f05291b9c37dadef46b48eb0ce
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_12.obj
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_13.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53d48ddc55fc34ff24cd84da871be163e13708b0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_13.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_14.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8aca9c33bf56b4887a4897c034ff6e4369a727fd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_14.obj
@@ -0,0 +1,484 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_15.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46eb387866809263d74b0b8a802fda80cc00c6bc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_15.obj
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_16.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27055c7efc6955375a73afb11eaa3dd85589095a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_16.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_17.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c771c4da119c7ed86f2319d2b32f353f543a56d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_17.obj
@@ -0,0 +1,439 @@
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_18.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebfc46ae9acf5b825dd7892f7bed4953cd9f7d17
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_18.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_19.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38523441d3a50917c110f6c401236a17891c3091
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_19.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_2.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c7134cdd8a984d8b4ad0ec7a1959fb70ee54d77
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_2.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
+v 0.03779833 0.03948690 -0.01898889
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_20.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21584434c42db789e4cfc243e19704210f74bfdc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_20.obj
@@ -0,0 +1,355 @@
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_21.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c180f6846838819b34e9183e530ce08b26537cb2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_21.obj
@@ -0,0 +1,595 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_22.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d9cdaa311f88af4a02f04bf714c60633bc06fe5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_22.obj
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_23.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51d162311f008c66cacfeaa7928a70ed3027b029
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_23.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_24.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb15146838d2a4a1927939c9d80ff9b88734ae84
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_24.obj
@@ -0,0 +1,652 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_25.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d02423aab7d014f4888961cee4675044a0de31d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_25.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_26.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85f272f63b0ca7c6ecdaa1f18484401ce66da3b2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_26.obj
@@ -0,0 +1,595 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_27.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47dd454c4f1d886817108a0c799d60cc4dcd9ba3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_27.obj
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_28.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c2c20fe70a546612d0328c60d395700e53ec0e2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_28.obj
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_29.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae5face80e3762f0c41373a3142c23ff00e2a107
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_29.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_3.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb507051c5b3bc71a03527224407ce952d639c06
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_3.obj
@@ -0,0 +1,550 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_30.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdb5f6f7d90d9155dc35881c79a4bfcefe6dedc3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_30.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.01681534 -0.02885016 -0.05358880
+v 0.01572366 -0.02898810 -0.05358880
+v 0.01681534 -0.03772382 -0.05358883
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+
diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_31.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cce510156005ba50ef3fd830420059f81bc4dbd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_31.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.04070720 -0.05035930 0.01583083
+v 0.04070720 -0.05125379 0.01957984
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+
diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_32.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..182925813e7a0023cc1a1f436f955538b0cfab38
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_32.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v 0.03893381 0.06496300 0.03602750
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_33.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2eada3e7fa8c741c38ade003c2241288537cdad
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_33.obj
@@ -0,0 +1,397 @@
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_34.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15dec17f43f275fa0f694e47dab0e131dfcd28b4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_34.obj
@@ -0,0 +1,379 @@
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_35.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..809d7207ac4d1858492343512637338e6dc0fda9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_35.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_36.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..233dfe075bdb7e213de86b950d9df828c9e7b24d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_36.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_37.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a2b60d9149ef49453263e9f9a35763933941b12
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_37.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_38.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9166df9bf644b57e35270b88869b8296dd521c3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_38.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_39.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a248e87df94fb368ae2588e9ba8c43eb8d51305e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_39.obj
@@ -0,0 +1,835 @@
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_4.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c9d0e5773c4e4c01b738e4b58740f121e86d7d4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_4.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_40.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..680667fc23152ff12b66e054260e01e9e5a5d0ef
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_40.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_41.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d3bbd6235a6127e1b54b6717e48cfba92a3ae57
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_41.obj
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+
diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_42.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..715e087a9040810ecc7fbf4dc29e1f713781a10e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_42.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_43.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd87c7215072ec1fd5c7e6f527e47ed2bb33daa1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_43.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.00643631 0.07336418 0.05377444
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_44.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..822c1fb72a474cb7fa6e2a15beb05348b04b48f8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_44.obj
@@ -0,0 +1,520 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_45.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0edd96f135854b6910de7f2c03ba24ba33d897f7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_45.obj
@@ -0,0 +1,184 @@
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_46.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2411595dda213d2b9860e6e7fde86bd403d8ee5c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_46.obj
@@ -0,0 +1,604 @@
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_47.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2449eb7f5a20c2cede20c5b3d185743269abce6c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_47.obj
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_48.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd75325904cce2c636bbb6ea943e42b5593be8f8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_48.obj
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_49.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4362be35ab95e85b57fe67138b6b8dc3c60eee3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_49.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_5.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f140a804bab128ef76ccc0b8551ef988d23d124f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_5.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_50.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44ce0a353cc187d21de941979ae1085167e00896
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_50.obj
@@ -0,0 +1,454 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_51.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32e89d4314ff9811c299a538dd62789564322249
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_51.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_52.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17a440b5adbf480a6b656c10e8be4efa2c13ddd1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_52.obj
@@ -0,0 +1,244 @@
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_53.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df37b78aa5d522f18221de21bcef46655e12793e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_53.obj
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_54.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49b1e96261b5597f9ce9a8a421c65bcacad8e6e2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_54.obj
@@ -0,0 +1,760 @@
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_55.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17a150dcc6f06025a8a12625dce655faf1482dd5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_55.obj
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_56.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18ebe7c463eddb94b6bcc756f1e670ae312d44e8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_56.obj
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_57.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0aea774f6ad1d527457624db6fa29d094777905d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_57.obj
@@ -0,0 +1,493 @@
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_58.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd8fbf3da6722878206faca118417e10c5c0ceaf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_58.obj
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_59.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85bb62ad61a360acc8b3e9512b08c527488652a1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_59.obj
@@ -0,0 +1,331 @@
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_6.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f0618cb19ec9253ceeeafc7639e9c4404c18db8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_6.obj
@@ -0,0 +1,415 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_60.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..397eafd0fc2b758cd46c8ff27605cdd58cba6c6a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_60.obj
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_61.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bdfa9e3660eac90238723a2f92a11731d358ebc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_61.obj
@@ -0,0 +1,439 @@
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_62.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8079d368af77e52820fa5bb6c75184a15731846
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_62.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_63.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4bf0b8c46f5ff1410ff9ce19847b640648ac76d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_63.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.03465466 0.00153909 -0.05430195
+v 0.03465466 0.00153909 -0.05330195
+v 0.03465466 0.00399615 -0.05430195
+v 0.03465466 0.00399615 -0.05330195
+v 0.03565466 0.00153909 -0.05430195
+v 0.03565466 0.00153909 -0.05330195
+v 0.03565466 0.00399615 -0.05430195
+v 0.03565466 0.00399615 -0.05330195
+f 2 4 1
+f 5 2 1
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+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/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_64.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c30b00462a2bf735a861bcbd220c5b2390c7082a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_64.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.00095963 -0.07218196 0.05640035
+v 0.00095963 -0.07391126 0.05640035
+v 0.00095963 -0.07121735 0.05816362
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+
diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_65.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8ff48ffa0477ccee7dd24764e626ed2d868289a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_65.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.00103043 0.07327870 0.06101859
+v 0.00132665 0.07143012 0.06020594
+v 0.00132665 0.07327870 0.06098668
+v -0.00103043 0.07517864 0.06026411
+v -0.00103043 0.07144842 0.06020523
+v 0.00392057 0.07120846 0.05816374
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+v 0.00392057 0.07501306 0.05998613
+v 0.00132665 0.07514918 0.06023078
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+v -0.00103043 0.07145600 0.05833393
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+v 0.00643631 0.07124865 0.05552306
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+v -0.00103043 0.07338579 0.05713627
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+
diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_66.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cd72ca4a0853030a58cd574e4f63c5e11e6f218
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_66.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.01344077 -0.07431670 0.04511198
+v 0.01343228 -0.07234548 0.04511198
+v 0.01337716 -0.07455765 0.04511198
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+v -0.00484272 -0.07563212 0.03615226
+v -0.00126574 -0.07029780 0.03219179
+v -0.00386100 -0.07029780 0.03295378
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+
diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_67.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..139c86eeb680206397b5e18ba390014e5ba5748e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_67.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_68.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b93ec856269e4826a8e7443ebbeaac8bc56e94f2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_68.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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+v -0.01164268 -0.05185208 -0.03314595
+v -0.01164268 -0.04733968 -0.03313954
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+v -0.01164268 -0.05805078 -0.02226811
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+v -0.01164268 -0.05597859 -0.02672249
+v 0.00453959 -0.05523297 -0.02888569
+v 0.00392024 -0.05526549 -0.02894115
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+v -0.00126898 -0.05362432 -0.03186808
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+
diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_69.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01789ac8569a7a69b7bb2b6504e6b4b64ee3960c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_69.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.00728350 0.07385259 0.04386814
+v -0.00728350 0.07436287 0.04386814
+v -0.00818340 0.07269175 0.04386814
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+v -0.00949531 0.07161663 0.04386813
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+v -0.00775486 0.07575266 0.04386815
+v 0.00371628 0.06987200 0.03878608
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+v -0.01065560 0.07143920 0.04386813
+v 0.00371628 0.07533413 0.03823136
+v -0.00217091 0.07721981 0.03900951
+v -0.00745492 0.07726756 0.04170178
+v -0.00905032 0.07679216 0.04346650
+v -0.00900746 0.07656471 0.04386815
+v 0.00371628 0.06987202 0.03164437
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+v -0.01317400 0.07147407 0.04386813
+v -0.01715593 0.06987199 0.04058595
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+
diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_7.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efdcc52529b60111decbba674023f19e0fc289da
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_7.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.03591946 -0.03790749 -0.05759181
+v 0.03469667 -0.03790750 -0.05580242
+v 0.03450222 -0.04049295 -0.05580877
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+v 0.03134240 -0.02949784 -0.05387273
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+v 0.03416753 -0.04225230 -0.05936644
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+v 0.03231278 -0.04304660 -0.05584259
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+v 0.03152749 -0.04459546 -0.05924170
+v 0.03241750 -0.04310020 -0.05982173
+v 0.02986159 -0.04307836 -0.06068858
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_70.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bf661efe53a7d1db0d31bb3c27ea0cb28a709d8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_70.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.00371628 0.06987128 0.03164383
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+v 0.01236194 0.07495021 0.03336453
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+
diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_71.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d6f786e3e7a2659988a770cf40c2f35e1559952
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_71.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v 0.01681843 -0.05804955 -0.00429299
+v 0.00454080 -0.05804952 -0.01327425
+v 0.01681843 -0.05804951 -0.01707574
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+
diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_72.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..119fb75bc0138d2d3d78376e96227522d1fc4c13
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_72.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.00095848 -0.07410828 0.06072130
+v 0.00095848 -0.07432163 0.06058760
+v 0.00095848 -0.07216876 0.06044339
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+
diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_73.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df69fe0223f3c8fe18ca8f66f748d22f916b6599
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_73.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_74.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..845d8aa1b91ccaa6a15589b67bef6c76f0ec5e28
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_74.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_8.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b16258ae18b7f7ca96ba7bb85443f0341a51f655
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_8.obj
@@ -0,0 +1,454 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_9.obj b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d9b55074e8cae28795709582f29645d50992436
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/mjcf/mesh/metal_colander_collision_9.obj
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