diff --git a/.gitattributes b/.gitattributes
index 96c1ab9b3ef38543d0cdb6ac688b8a549fd62cbe..06ca36b38ff0ad346685aadce32e73100ef52257 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4233,11 +4233,6 @@ dataset/kitchen_supplies/tableware/7621a3f903ff5f948e7674e7dd4e8446/fork_010.usd
 dataset/kitchen_supplies/tableware/7621a3f903ff5f948e7674e7dd4e8446/mesh/fork_010.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/mesh/tray_049.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/74313b0443635e4a9790a3f26bcee1ba/tray_049.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/7b3f5b70d5b3501baba632989614b24e/fork_016.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/7b3f5b70d5b3501baba632989614b24e/mesh/fork_016.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/7ce04b7c86ac5d75972fcc1b31943933/mesh/spoon_010.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/7ce04b7c86ac5d75972fcc1b31943933/spoon_010.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/mesh/tray_013.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/7a4e775be6f058078c66b810cc35ddc9/tray_013.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/mesh/tray_063.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/7bd3c6b13bc75f1fbc906242675d4440/tray_063.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/7b7d1f64d23b58cba83a39a70e23c647.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mesh/metal_colander.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mesh/metal_colander_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/7b7d1f64d23b58cba83a39a70e23c647.urdf b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/7b7d1f64d23b58cba83a39a70e23c647.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7edf963869dc2e34eea0d845a238191dff27b98a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/7b7d1f64d23b58cba83a39a70e23c647.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>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000" />
+         <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>0.325394</scale>
+         <version>v0.1.7</version>
+         <category>metal colander</category>
+         <description>perforated metal bowl with flared rim and tapered base</description>
+         <min_height>0.108</min_height>
+         <max_height>0.162</max_height>
+         <real_height>0.134</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <generate_time>20260119192338</generate_time>
+         <gs_model>mesh/metal_colander_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.546255588531494</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/7b7d1f64d23b58cba83a39a70e23c647/7b7d1f64d23b58cba83a39a70e23c647.usd b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/7b7d1f64d23b58cba83a39a70e23c647.usd
new file mode 100644
index 0000000000000000000000000000000000000000..edbf05958603875e4e6a0ec3a749d8149298d42a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/7b7d1f64d23b58cba83a39a70e23c647.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4502bf1cfb688c65e887b323f4af834c2c327618cad0dbd0466d7d0dc8b679f0
+size 709377
diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mesh/material.mtl b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/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/7b7d1f64d23b58cba83a39a70e23c647/mesh/material_0.png b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..78af4cddc8387ad2a8c70cff36a404f768b6e18f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8b310b46f5f31d7bd520930b17f37961d2bc08efd31e378b8df00abd89879c2
+size 2352287
diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mesh/metal_colander.glb b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mesh/metal_colander.glb
new file mode 100644
index 0000000000000000000000000000000000000000..373b623de0a7da1c10b30fbb6a0f70b6ab175963
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mesh/metal_colander.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a0191acdc01104630a5365feda7738c28936fa27cd53b785feb1cd879d9229f
+size 2822476
diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mesh/metal_colander.obj b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mesh/metal_colander.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8d4289b754c5c593f134c6af89ea51e55ce26de
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mesh/metal_colander.obj
@@ -0,0 +1,42822 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mesh/metal_colander_collision.obj b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mesh/metal_colander_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6201b873c4545a623c7a2181be75404122431868
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mesh/metal_colander_collision.obj
@@ -0,0 +1,10943 @@
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diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:b8b310b46f5f31d7bd520930b17f37961d2bc08efd31e378b8df00abd89879c2
+size 2352287
diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander.obj b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc157a7ab1e587675d5f5af618e66a75b2d67a15
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/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/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision.obj b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a47c2aa9348af997ace471bb1d0a96d7f90d275
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision.obj
@@ -0,0 +1,10943 @@
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diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_0.obj b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfd040df30217504c92fc7affd438b9beaebab79
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_1.obj b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebfe90e62a69ed5d4c7970a96fb801a2fc5ad9a6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_1.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_10.obj b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09f71d8626de6c2bc2781845e94d5615988ef6de
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_10.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_11.obj b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce4a325bf46289d0d93ca000a6de05dc3dc1d5e5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_11.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_12.obj b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d548938db9ee22b6f9c7648639a9b2edd1438468
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_12.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_13.obj b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5255759b9cbf2a26f3c3fe41efc38b12491622f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_13.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_14.obj b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a22c1418bbf6a8902d1887820a9db396a6fcdb16
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_14.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.09125458 -0.11697485 -0.02251938
+v 0.09125458 -0.12066294 -0.01619218
+v 0.09125458 -0.11697492 -0.00261600
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+
diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_15.obj b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6802ff8732181cf134c7e132c52b588ab01abdfe
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_15.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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+v -0.15862951 0.09330706 0.04427364
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+v -0.11791103 0.09364701 -0.02310124
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+
diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_16.obj b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ec4631077b7db7429f6bc6a6037c17ccd6c03e8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_16.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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+v -0.12806854 0.07355877 0.00275563
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+
diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_17.obj b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..675ee858a0e50795fdefec1ca8c5432b629f3003
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_17.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.15333745 -0.11065698 0.04296942
+v -0.15133675 -0.11065696 0.03872952
+v -0.15130643 -0.11090734 0.03883328
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+v -0.12682505 -0.11065684 0.00656688
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diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_18.obj b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0becd6834fe8a4db7ea705b692ac9850d5e63941
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_18.obj
@@ -0,0 +1,325 @@
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diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_19.obj b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..568147e7cd255ae9f9ccda6f6c2b0638f82a709d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_19.obj
@@ -0,0 +1,211 @@
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diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_2.obj b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d635bd7d51411601fcf8927a902b41dfd03a8e4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_2.obj
@@ -0,0 +1,448 @@
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diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_20.obj b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa97241704e71878158025d59e1e9d9aeb7f4d3f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_20.obj
@@ -0,0 +1,226 @@
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diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_21.obj b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7683d352425731230a16b0cb4a1f141033bf1a97
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_21.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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+v -0.06545986 0.09858864 -0.05117417
+v -0.06545986 0.10939386 -0.05011519
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+
diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_22.obj b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e4156aae3b7588db1b41fa1da867fa70488eb58
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_22.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v -0.17646176 -0.08597154 0.05947068
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+
diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_23.obj b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab47295d9959a6c1b4de55b28a512bc5330ee480
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_23.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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+v -0.15814585 -0.08627348 0.04296951
+v -0.14709023 -0.08597388 0.04296951
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diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_24.obj b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..859f873e7973f2f9e7110359b935b4cc6093ce43
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_24.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_25.obj b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe464aece8ddcadd7d86d861a059a8f85b86af0e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_25.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_26.obj b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..762de67fd68874e502009756a4dea9e112016961
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_26.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_27.obj b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdf5fad18fa4409741613fbe1d4c449d44302b46
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_27.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_28.obj b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f3db75b5eb258c8407dd12ff668a463f13fd6bc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_28.obj
@@ -0,0 +1,409 @@
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diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_29.obj b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..650e3e7a54d5ab30c318ab47e90807efd55c61f5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_29.obj
@@ -0,0 +1,328 @@
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diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_3.obj b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f60753c9dccf5df1c25f7c7df07b35b3b996f76b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_3.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_30.obj b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f3590549af4f24b634544add3a737c32e3c6864
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_30.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_31.obj b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9aac4e5e460f926a8087f8ea7d6a2170fbfef618
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_31.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_32.obj b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df7fe8df8f9adf0360d0776c40e19040e6549d13
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_32.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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+v -0.11791103 0.09330731 -0.02339778
+v -0.09280256 0.09330735 -0.03662419
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+
diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_33.obj b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6b57b6a3b8ccd8109a0d64a558b9d0422df553b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_33.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.11890727 -0.09910865 0.00290022
+v 0.12810652 -0.07151947 0.00290032
+v 0.13171037 -0.09910865 0.00290022
+v 0.15002963 -0.09910883 0.05198693
+v 0.15081601 -0.07151965 0.05117040
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+
diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_34.obj b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cee96542d1919bd921e9355b0f9261335cb882c5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_34.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
+v -0.09276563 0.08258665 -0.05117423
+v -0.09276563 0.09689364 -0.05117417
+v -0.06678024 0.09707748 -0.05117417
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diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_35.obj b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42e74c55c84a46a0244455eecb53177c9a428398
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_35.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_36.obj b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0060ee4e581111782c08f29022a0f5aadfb7f9f8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_36.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_37.obj b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..545c2c2a161ef98062c181b699cf6b70345b5019
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_37.obj
@@ -0,0 +1,202 @@
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diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_38.obj b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bc9501cbc8a9552966549a731ff1c958dd8dcf8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_38.obj
@@ -0,0 +1,406 @@
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+
diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_39.obj b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6f2b0bbcc9c5c768bdaea2304c9228c75df52c2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_39.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.00039690 -0.12822083 -0.00894667
+v -0.00039690 -0.11653377 -0.03572515
+v -0.00039690 -0.11904530 -0.00894664
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+v -0.05451481 -0.11042315 -0.04923072
+v -0.06113314 -0.11362579 -0.04200672
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+
diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_4.obj b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4198f646332f168443b9398eb18fb0f2ccef51b6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_4.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
+v -0.00039096 -0.09911112 -0.06517806
+v 0.00099044 -0.09911112 -0.06519094
+v -0.00039096 -0.10113228 -0.06476659
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+v -0.00039096 -0.10430936 -0.06214332
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+v -0.00039096 -0.14440856 0.05126132
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+v 0.02621467 -0.10113228 -0.06480517
+v 0.02041097 -0.10431611 -0.06216904
+v 0.01460724 -0.10432289 -0.06218192
+v -0.00039096 -0.10608718 -0.05891571
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+v -0.00039096 -0.14675421 0.05407746
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+
diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_40.obj b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f0ab49e9350daed529a86cd82c04e108a9c7a0b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_40.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.13581076 -0.08881143 0.00290025
+v 0.13556024 -0.08999721 0.00290025
+v 0.13434150 -0.08881142 0.00013907
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+f 1 2 3
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+
diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_41.obj b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c33c51fe4317cf2fdb41f54ef79919414dfd75b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_41.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.12385583 0.03788206 -0.02886638
+v 0.12312356 0.03788206 -0.03033366
+v 0.12384937 0.03950602 -0.02886637
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+v 0.11740580 0.03788210 -0.04170141
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+v 0.12308468 0.00025443 -0.03026683
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+
diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_42.obj b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62e98edcefc2a3c1a62fab1d6a01d7b084777385
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_42.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.08751551 0.08832638 -0.05024954
+v 0.09208082 0.08832636 -0.04405180
+v 0.10223531 0.08832638 -0.05024954
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+
diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_43.obj b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f480f92f694fbd01998afca16efb06330ddd0a5b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_43.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.08709304 -0.08881022 -0.05012276
+v 0.09993151 -0.07152096 -0.05012269
+v 0.10074115 -0.08881022 -0.05012276
+v 0.12449212 -0.08881041 0.00290025
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+v 0.13640530 -0.08610068 0.00290026
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+v 0.13846207 -0.07161425 0.00290032
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+
diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_44.obj b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a312f328dd9f90218a26a313884aa57311315f3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_44.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.06113314 -0.08597346 -0.06479952
+v -0.06113314 -0.09500693 -0.06602656
+v -0.06113314 -0.08597350 -0.05397885
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+v -0.06113314 -0.09533855 -0.06605617
+v -0.06113314 -0.10021462 -0.04923233
+v -0.01440059 -0.08597350 -0.05384712
+v -0.00039690 -0.08597350 -0.05383888
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+v -0.00039690 -0.10113016 -0.06476994
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+v -0.02600197 -0.10113016 -0.06471062
+v -0.03179968 -0.10113016 -0.06464145
+v -0.06113314 -0.11008435 -0.04923236
+v -0.00039690 -0.10047416 -0.04923233
+v -0.00501722 -0.08597350 -0.05384053
+v -0.01082089 -0.08597350 -0.05384380
+v -0.04340105 -0.10413650 -0.06190255
+v -0.02600197 -0.10426146 -0.06209524
+v -0.03179968 -0.10422063 -0.06203428
+v -0.04919875 -0.10407883 -0.06181855
+v -0.05231466 -0.10403798 -0.06175926
+v -0.05455050 -0.10164205 -0.06374715
+v -0.06080011 -0.10076728 -0.06412265
+v -0.06113314 -0.10073365 -0.06410291
+v -0.00039690 -0.10244708 -0.06368293
+v -0.01440059 -0.10429993 -0.06214299
+v -0.02020426 -0.10429032 -0.06213313
+v -0.06113314 -0.10816661 -0.05328557
+v -0.06080011 -0.10820508 -0.05328557
+v -0.06080011 -0.11011319 -0.04923236
+v -0.00039690 -0.11039917 -0.04923237
+v -0.04919875 -0.10582593 -0.05892319
+v -0.02600197 -0.10607827 -0.05892319
+v -0.03179968 -0.10602538 -0.05892319
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+v -0.05451481 -0.11042081 -0.04923237
+v -0.03759739 -0.11052173 -0.04923237
+v -0.01440059 -0.10872416 -0.05332016
+v -0.00860290 -0.10871214 -0.05330205
+v -0.00039690 -0.10880827 -0.05298252
+v -0.04919875 -0.10866888 -0.05332343
+v -0.03759739 -0.10870974 -0.05341074
+v -0.04340105 -0.10869051 -0.05337780
+v -0.06113314 -0.10363185 -0.06116964
+v -0.00039690 -0.10608068 -0.05892319
+v -0.01440059 -0.10609990 -0.05892319
+v -0.03179968 -0.10872656 -0.05338767
+v -0.04340105 -0.11049769 -0.04923237
+v -0.02600197 -0.10873857 -0.05334651
+v -0.02020426 -0.10873617 -0.05333002
+v -0.00039690 -0.10715971 -0.05658610
+f 1 2 6
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+f 1 13 30
+f 1 30 46
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+f 1 34 19
+f 1 19 7
+f 1 7 3
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+f 45 60 46
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+
diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_5.obj b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf2cd177ec96000d25e1d097d7b6dddfcbdffc4f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_5.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.13442950 0.09330041 0.00276242
+v -0.17497283 0.09330022 0.05538501
+v -0.12259709 0.09330041 0.00276242
+v -0.13447166 0.09318504 0.00276242
+v -0.17557919 0.09330021 0.05716584
+v -0.13544189 0.09049097 0.00276241
+v -0.13690248 0.08461423 0.00276239
+v -0.13699740 0.08422063 0.00276239
+v -0.13774614 0.07896143 0.00276237
+v -0.13811524 0.07517479 0.00276236
+v -0.13829452 0.07330183 0.00276235
+v -0.13834724 0.07263679 0.00276235
+v -0.13851599 0.06808332 0.00276233
+v -0.13855290 0.06684147 0.00276233
+v -0.17501500 0.09001575 0.05534110
+v -0.17642286 0.09001573 0.05946713
+v -0.15030619 0.09330023 0.05154116
+v -0.15075439 0.02398720 0.05095147
+v -0.14135280 0.02398728 0.03128698
+v -0.14064097 0.02398728 0.02976322
+v -0.13958112 0.02398729 0.02746192
+v -0.13616429 0.02398732 0.02001249
+v -0.13409202 0.02398733 0.01548513
+v -0.13332746 0.02398734 0.01379836
+v -0.13281598 0.02398734 0.01266965
+v -0.13106537 0.02398736 0.00873173
+v -0.13010570 0.02398737 0.00656212
+v -0.12866621 0.02398738 0.00330143
+v -0.12842893 0.02398738 0.00276217
+v -0.17635960 0.09330020 0.05946714
+v -0.17505715 0.08422044 0.05527838
+v -0.13855817 0.06234229 0.00276231
+v -0.17513099 0.03209656 0.05516531
+v -0.17511517 0.06105276 0.05520304
+v -0.17646504 0.08422042 0.05946711
+v -0.17533136 0.09001571 0.06429548
+v -0.17531027 0.09330018 0.06428294
+v -0.15147151 0.09330023 0.05276390
+v -0.15618020 0.02398718 0.05697119
+v -0.15331175 0.02398719 0.05382967
+v -0.13857400 0.02398738 0.00276217
+v -0.17510464 0.02630126 0.05520921
+v -0.17637013 0.02398717 0.05946689
+v -0.17638068 0.02630124 0.05946690
+v -0.17640175 0.03209654 0.05946692
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+v -0.17533136 0.08422040 0.06430172
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+v -0.15307972 0.09330022 0.05436290
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+v -0.17507299 0.02398719 0.05525935
+v -0.17560028 0.02398718 0.05691477
+v -0.17592193 0.02398716 0.06134180
+v -0.17102340 0.09330017 0.06682251
+v -0.17521536 0.02398715 0.06413219
+v -0.17271074 0.02398715 0.06558695
+v -0.15597982 0.09330021 0.05710940
+v -0.16200146 0.02398716 0.06259589
+v -0.16772786 0.09330018 0.06594465
+v -0.17102340 0.02398715 0.06655889
+v -0.16521794 0.02398715 0.06502888
+v -0.15728750 0.09330021 0.05833217
+v -0.16194875 0.09330019 0.06269021
+v -0.16333553 0.09330019 0.06377501
+v -0.16521794 0.09330018 0.06522353
+f 1 2 5
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+f 1 30 37
+f 1 37 48
+f 1 48 54
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+f 1 65 64
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+f 1 3 29
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+
diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_6.obj b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c69ef9f6c67a3093ba457d9fff4cdd5df9fcae34
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_6.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.08409610 0.15952213 0.06617195
+v 0.08409610 0.15943962 0.06611711
+v 0.08409610 0.16531741 0.06537296
+v 0.06100604 0.16531741 0.06559230
+v 0.05520874 0.16531741 0.06563929
+v -0.00039096 0.16531741 0.06560013
+v -0.00039096 0.15952213 0.06594869
+v 0.08409610 0.15551767 0.06348904
+v -0.00039096 0.15719506 0.06439769
+v -0.00039096 0.15555204 0.06329713
+v 0.08409610 0.16831820 0.06274492
+v 0.06100604 0.16850381 0.06288594
+v 0.05520874 0.16853474 0.06293293
+v -0.00039096 0.16855880 0.06295252
+v 0.08409610 0.15545579 0.06342638
+v -0.00039096 0.15385746 0.06165604
+v -0.00039096 0.15265784 0.06049281
+v -0.00039096 0.15099074 0.05884389
+v -0.00039096 0.14980834 0.05767283
+v 0.08409610 0.16838349 0.06268617
+v 0.05520874 0.16853475 0.06061428
+v 0.04941143 0.16853820 0.06293293
+v -0.00039096 0.16855881 0.05992887
+v 0.08409610 0.14702069 0.05462959
+v -0.00039096 0.14691069 0.05464528
+v 0.08409610 0.16838349 0.06150336
+v 0.04941143 0.16853821 0.06058687
+v 0.05520874 0.16796759 0.05779431
+v 0.00881364 0.16811883 0.05719116
+v 0.00300806 0.16812916 0.05712849
+v -0.00039096 0.16838350 0.05876174
+v 0.08409610 0.14446333 0.05180964
+v -0.00039096 0.14449083 0.05182530
+v 0.08409610 0.16771668 0.05868339
+v 0.06100604 0.16792635 0.05797448
+v 0.08409610 0.16488094 0.05452003
+v 0.08409610 0.16481906 0.05443385
+v 0.07841454 0.14416440 0.02616361
+v -0.00039096 0.16813262 0.05710892
+v 0.05931895 0.14434654 0.02616361
+v 0.05520874 0.14437749 0.02616361
+v 0.05340584 0.14438780 0.02616361
+v 0.08409610 0.13344343 0.02616357
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+v 0.08399684 0.14393064 0.02616361
+v -0.00039096 0.14412657 0.02616361
+v 0.04941143 0.14439812 0.02616361
+v 0.04756720 0.14439469 0.02616361
+v 0.04360582 0.14437749 0.02616361
+v 0.01884522 0.14423658 0.02616361
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+f 39 51 47
+
diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_7.obj b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..660bad2ade426f48000c54d0c607bc2f183c1935
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_7.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.09140040 -0.16218197 0.06802622
+v -0.09140040 -0.16168621 0.06802623
+v -0.09140040 -0.16508099 0.06543432
+v -0.08980576 -0.16504865 0.06550966
+v -0.08400634 -0.16493011 0.06567543
+v -0.06079962 -0.16491395 0.06585625
+v -0.05500019 -0.16494089 0.06585625
+v -0.00039096 -0.16484390 0.06573570
+v -0.05500019 -0.16204725 0.06795840
+v -0.09140040 -0.15878718 0.06633097
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+v -0.09140040 -0.16788839 0.06261638
+v -0.08980576 -0.16792074 0.06269171
+v -0.08400634 -0.16800157 0.06285749
+v -0.07820688 -0.16804467 0.06292530
+v -0.07240744 -0.16807698 0.06297804
+v -0.06659909 -0.16810393 0.06302324
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+v -0.00039096 -0.16815783 0.06302324
+v -0.00039096 -0.15905124 0.06579600
+v -0.04573532 -0.16196105 0.06792828
+v -0.04920074 -0.16199876 0.06794333
+v -0.09140040 -0.15611986 0.06428157
+v -0.04920074 -0.16190713 0.06794334
+v -0.00039096 -0.15752628 0.06467336
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+v -0.09140040 -0.16788839 0.06182525
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+v -0.08400634 -0.16800157 0.06151635
+v -0.07820688 -0.16804467 0.06142592
+v -0.07240744 -0.16807698 0.06135812
+v -0.06659909 -0.16810393 0.06129029
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diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_8.obj b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bae79d664af21ce27cb9c78f87accd42178b7a99
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_8.obj
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diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_9.obj b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f0639f2ec4e7c1f44403602855a3a5aa27596ad
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mjcf/mesh/metal_colander_collision_9.obj
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diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/textures/material_0.png b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/textures/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/video.mp4 b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/video.mp4
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