diff --git a/.gitattributes b/.gitattributes
index d6da81546d0c5f1a180014644a38bbf96f13a068..0733fc7c0978f5db6ebcf0ef7f15410b980508d0 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4342,5 +4342,6 @@ dataset/kitchen_supplies/tableware/ba0ee4e6627f51c4805e8a1d75877d5b/mesh/metal_b
 dataset/kitchen_supplies/tableware/bb6d092dcf075bc3b830f0300d6ad807/bb6d092dcf075bc3b830f0300d6ad807.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/bb6d092dcf075bc3b830f0300d6ad807/mesh/spoon.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/bb6d092dcf075bc3b830f0300d6ad807/mesh/spoon_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/bbeb303b4d135dd9b8e1975a466d42ea/fork_011.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/bbeb303b4d135dd9b8e1975a466d42ea/mesh/fork_011.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/bb7a94ef69bd54f5801cc667b588e3d3.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mesh/metal_colander.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mesh/metal_colander_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/bb7a94ef69bd54f5801cc667b588e3d3.urdf b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/bb7a94ef69bd54f5801cc667b588e3d3.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..13e283d56d2a22abc29baa4b041104a22e071a8a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/bb7a94ef69bd54f5801cc667b588e3d3.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="0.6500" />
+         <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>0.428241</scale>
+         <version>v0.1.7</version>
+         <category>metal colander</category>
+         <description>perforated metal bowl with handles and a pedestal base</description>
+         <min_height>0.108</min_height>
+         <max_height>0.134</max_height>
+         <real_height>0.124</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>0.8</max_mass>
+         <generate_time>20260119190813</generate_time>
+         <gs_model>mesh/metal_colander_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.820130825042725</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>5</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/bb7a94ef69bd54f5801cc667b588e3d3/bb7a94ef69bd54f5801cc667b588e3d3.usd b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/bb7a94ef69bd54f5801cc667b588e3d3.usd
new file mode 100644
index 0000000000000000000000000000000000000000..5ea0a812c41b246bb335edcbbecf865182bd520c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/bb7a94ef69bd54f5801cc667b588e3d3.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a3d85b8b4eaa71f492fb10b64cb35fc63d513f5e18a19a5e44366a57531ab2e
+size 655115
diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mesh/material.mtl b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/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/bb7a94ef69bd54f5801cc667b588e3d3/mesh/material_0.png b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52830d767b831a83e281c05c9a9c68d6e8d5c6cef1b76241a16e54fc63826229
+size 3750918
diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mesh/metal_colander.glb b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mesh/metal_colander.glb
new file mode 100644
index 0000000000000000000000000000000000000000..0f12231619aef2045112baae6e407b567482050f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mesh/metal_colander.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd19e80bbf383d1d970c27d323f60a4d9aea1a372e3f7dbfd310617613553a66
+size 4224008
diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mesh/metal_colander.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mesh/metal_colander.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3106104ae93a0d417423c2100fff02307c89a7ee
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mesh/metal_colander.obj
@@ -0,0 +1,43629 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mesh/metal_colander_collision.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mesh/metal_colander_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99c1a04140de187c3435da7f146df7e0f0e48abd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mesh/metal_colander_collision.obj
@@ -0,0 +1,18930 @@
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diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mesh/metal_colander_gs.ply b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mesh/metal_colander_gs.ply
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diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/bb7a94ef69bd54f5801cc667b588e3d3.xml b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/bb7a94ef69bd54f5801cc667b588e3d3.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d72dd8c59df634a87e1c29aaec47a72c9e445240
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/bb7a94ef69bd54f5801cc667b588e3d3.xml
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+</mujoco>
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diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/material_0.png
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+size 3750918
diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander.obj
new file mode 100644
index 0000000000000000000000000000000000000000..899c24eebc1d4130e6c3807daeb01749dde6f85d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander.obj
@@ -0,0 +1,43629 @@
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diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..877ba830c45e76bacddfbb937c1bb3f293f80c1e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision.obj
@@ -0,0 +1,18930 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_0.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7eabd2e1639618d192a324f56b3da68e87d55938
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_0.obj
@@ -0,0 +1,409 @@
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diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_1.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4238c5e0202c025dd07489443a20ba0d030f63a5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_1.obj
@@ -0,0 +1,688 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_10.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dedd8adac9cb3e5fbf6a85ffb40d6768b2a71952
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_10.obj
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diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_11.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f653b510da80eca480328a5e8330da758d4fc412
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_11.obj
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diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_12.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f075c39db0699bc7c9b8b76ab263b5035aadfcf3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_12.obj
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diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_13.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a80abee85019092ef33047709ba9d516c041c6b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_13.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_14.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f13060d4767e884c77a3a3528b8499d60ab0ead
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_14.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_15.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04d540effdabbdbbc6abc906525ce6df5cf1ec85
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_15.obj
@@ -0,0 +1,397 @@
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diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_16.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdac674288b5bdd43e5d68e12b1e392927081539
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_16.obj
@@ -0,0 +1,613 @@
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diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_17.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c23c69597083851aeccb9c35d446280b6ce021de
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_17.obj
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diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_18.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64ff34d5b1e3242a27e0569aa94e05a3f5df883a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_18.obj
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diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_19.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99587c572e8f77dd8903ed0162f43ca601f9e930
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_19.obj
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diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_2.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92d529f14600077a08323700dec4ef0762b0850d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_2.obj
@@ -0,0 +1,331 @@
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diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_20.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a38354895647116d0720ea077f926e109fceae11
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_20.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_21.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6d80851a7d866260fbb2fdf79a09007c873dfff
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_21.obj
@@ -0,0 +1,295 @@
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diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_22.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15fabd7ad1ecc7f9747ea62a10609ae1744cb738
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_22.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_23.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2990e1aa51fab25108f532784d16dd45a4b57e8e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_23.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_24.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2e87aaded6ab745068a745ad3e0d5f489220718
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_24.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_25.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..974065f713930c72df2cd5f29ed66f09dff1db5a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_25.obj
@@ -0,0 +1,454 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_26.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4bb976afc46ba5d0ec7ad5aa83863ece4a193ac
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_26.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_27.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2230bd3b884f53f28dd79274a4af47dbdb34263e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_27.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_28.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7caa038efd4ede96747c5462d1ff24cbeb9a3b11
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_28.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_29.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85cd494474101d215ce13c017d9ac078066f0669
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_29.obj
@@ -0,0 +1,352 @@
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diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_3.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c338b591c48c980a284bee08de9443935a2ebc5e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_3.obj
@@ -0,0 +1,310 @@
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diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_30.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8e6fab3286bd9faf70eeea37cdd86042867757a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_30.obj
@@ -0,0 +1,385 @@
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diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_31.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08c7d4688f781ff78356793601b5319efa1808d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_31.obj
@@ -0,0 +1,385 @@
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diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_32.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f0e83c10597e03022029036e4d0e455c27338a0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_32.obj
@@ -0,0 +1,463 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_33.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef9ebeb4ab85465d6a0917d30f78aa76f123ec79
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_33.obj
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diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_34.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4043e9de8271cd1c59886ed236576f8581ac309a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_34.obj
@@ -0,0 +1,541 @@
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diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_35.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8537c162071cb274c7255f6f71061d14dbc480b1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_35.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_36.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99e7e01fcc69a0c8e0953e653cad78021bad17ff
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_36.obj
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diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_37.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a82e8fe7c0bd9b48eb6a817cc9e0f7fa0c1288d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_37.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_38.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d4b48faf9c58660747f476d6b2d883210854136
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_38.obj
@@ -0,0 +1,415 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_39.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae9d380c72a5f525e39f51cd128471493abc9c7d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_39.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_4.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2789794833044e4f272971c4c075f2ab2fd46442
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_4.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_40.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..505088b7fe153d654b86a099bed2009f77174a74
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_40.obj
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diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_41.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db0fdceca48d588878b4eeb4cb1a67fe1afffacf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_41.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_42.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d92d786bb15e0017b6a2c028aa7b2dc704d1606e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_42.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_43.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07a4d0592521ef201a9359e317bf42080b8f991f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_43.obj
@@ -0,0 +1,505 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_44.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8422c20fb8156c129983f2bdc0fbc4f87aa0c3a2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_44.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_45.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6225e6dde63ae838e3a27629f17952cba84371d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_45.obj
@@ -0,0 +1,178 @@
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+f 18 30 26
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+f 21 35 36
+f 21 36 33
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+f 27 45 31
+f 27 31 28
+f 29 41 46
+f 29 46 47
+f 29 47 30
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+f 31 49 32
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+f 54 60 55
+f 55 60 56
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+
diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_46.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02e487d49882805bb414d6e4ce5e1cf186d8c22d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_46.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.00028042 -0.09764739 0.06082159
+v -0.00165343 -0.09764739 0.06081697
+v 0.00028042 -0.09915939 0.06064547
+v 0.00028042 -0.09483470 0.06028391
+v -0.02864519 -0.08987447 0.06028702
+v -0.02864519 -0.08991797 0.06029475
+v -0.02466422 -0.09382152 0.06069028
+v -0.00548996 -0.09764739 0.06079841
+v -0.00165343 -0.10069467 0.06046002
+v 0.00028042 -0.10068382 0.06046467
+v 0.00028042 -0.09272907 0.05781649
+v -0.02864519 -0.08826767 0.05976480
+v -0.02864519 -0.09382308 0.06059911
+v -0.02850079 -0.09382152 0.06060993
+v -0.01316026 -0.09764739 0.06070571
+v -0.00932369 -0.09764739 0.06077524
+v -0.00548996 -0.10058747 0.06044302
+v -0.00165343 -0.10160375 0.05805131
+v 0.00028042 -0.10159598 0.05805131
+v 0.00028042 -0.09235457 0.05604740
+v -0.00248869 -0.09182932 0.05647230
+v -0.02864519 -0.08718923 0.05818887
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+v -0.02466422 -0.09655961 0.06037353
+v -0.01316026 -0.10008863 0.06032560
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+v -0.02489357 -0.10180886 0.05330335
+v -0.02097492 -0.10180886 0.05320296
+v -0.01848044 -0.10180884 0.05031678
+v -0.01839548 -0.10180884 0.04828660
+v 0.00028042 -0.09728214 0.04503893
+v 0.00028042 -0.09199714 0.05422425
+v -0.02864519 -0.08642776 0.05429069
+v -0.02864519 -0.08645263 0.05443902
+v -0.01893346 -0.09956806 0.05993164
+v -0.01699396 -0.09975610 0.06009385
+v -0.02864519 -0.09630629 0.05792154
+v -0.02699730 -0.10067447 0.05055009
+v -0.02645650 -0.10180885 0.05055009
+v -0.02058418 -0.10180883 0.04737193
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+v -0.02083050 -0.10180883 0.04735031
+v -0.02088148 -0.09806379 0.04503893
+v -0.02864519 -0.08593359 0.04503897
+v -0.02864519 -0.09618507 0.05055011
+v -0.02692934 -0.10020050 0.04828969
+v -0.02636023 -0.10180884 0.04981156
+v -0.02442355 -0.10180884 0.04768249
+v -0.02460192 -0.10180884 0.04771030
+v -0.02403566 -0.09700398 0.04503893
+v -0.02864519 -0.09325117 0.04503895
+v -0.02864519 -0.09453009 0.04661024
+v -0.02468122 -0.09671962 0.04503893
+f 1 2 3
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+f 1 34 20
+f 1 20 11
+f 1 11 4
+f 1 4 5
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+f 5 22 36
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+f 45 51 52
+f 47 54 48
+f 48 54 53
+f 48 53 51
+f 48 51 49
+f 51 55 52
+f 51 53 55
+
diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_47.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0197f259f95570659e1908fa62ea878ff2d7af09
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_47.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.00028042 0.11616827 0.05430126
+v 0.00028042 0.11596075 0.05283673
+v 0.00028042 0.11527681 0.05653070
+v 0.00218587 0.11525072 0.05650958
+v 0.00218587 0.11612782 0.05430126
+v 0.00601987 0.11565271 0.05142646
+v 0.00218587 0.11571539 0.05139631
+v 0.00028042 0.11573105 0.05139531
+v 0.00028042 0.11409693 0.05659504
+v 0.00601987 0.11502491 0.05632363
+v 0.00601987 0.11583936 0.05430126
+v 0.00218587 0.11292357 0.05662919
+v 0.01587365 0.11116025 0.05623217
+v 0.00985646 0.11545954 0.05159434
+v 0.00985646 0.11292360 0.05014788
+v 0.00028042 0.11432405 0.05094397
+v 0.02135854 0.10283583 0.04638654
+v 0.00028042 0.11292357 0.05665533
+v 0.00818502 0.11487481 0.05620604
+v 0.00961988 0.11535773 0.05446811
+v 0.01288049 0.11515283 0.05332926
+v 0.01368790 0.11079872 0.05628142
+v 0.01587365 0.11086268 0.05623217
+v 0.02246938 0.10283580 0.05423083
+v 0.02447766 0.10526865 0.05345186
+v 0.02383480 0.10791689 0.05308095
+v 0.02142023 0.10915419 0.05394137
+v 0.02018080 0.11158445 0.05329407
+v 0.01730078 0.11217962 0.05444699
+v 0.01074106 0.11410477 0.05583011
+v 0.01288049 0.11515284 0.05196726
+v 0.01397077 0.11327599 0.05077211
+v 0.02135854 0.10782685 0.04838381
+v 0.01842193 0.10798738 0.04832654
+v 0.00028042 0.11292359 0.05052886
+v 0.02038394 0.10283583 0.04656544
+v 0.02332826 0.10723820 0.04863508
+v 0.02481967 0.10283583 0.04725699
+v 0.00028042 0.11087181 0.05630051
+v 0.02116309 0.10283580 0.05460477
+v 0.02504082 0.10283580 0.05330006
+v 0.02638826 0.10283581 0.05108166
+v 0.02655024 0.10283581 0.05055092
+v 0.02535454 0.10526866 0.05055093
+v 0.02373451 0.10777461 0.05055094
+v 0.02018080 0.11158446 0.05154106
+v 0.01752451 0.11235843 0.05084748
+v 0.00028042 0.11160925 0.05104752
+v 0.01858393 0.10283583 0.04734445
+v 0.00028042 0.11033801 0.05155913
+v 0.02415368 0.10526867 0.04811141
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+v 0.01806451 0.10283580 0.05409013
+v 0.01950964 0.10283580 0.05443992
+v 0.01769936 0.10283581 0.05287888
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+f 1 39 18
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+f 52 55 53
+
diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_48.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..516fe1a684f56e34d502b6aeb49ba2e7260912c3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_48.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.01769958 0.10283579 0.05287820
+v 0.01806490 0.10283578 0.05408997
+v 0.01858456 0.10283581 0.04734536
+v 0.00218579 0.10282102 0.05805152
+v 0.01950733 0.10283578 0.05443951
+v 0.00028356 0.09711690 0.04371336
+v 0.00028356 0.10278970 0.05805152
+v 0.02038600 0.10283581 0.04656469
+v 0.00028356 0.10196031 0.05919835
+v 0.00218579 0.10113096 0.06037518
+v 0.00602171 0.10082688 0.06038516
+v 0.00985451 0.10047483 0.06038682
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+v 0.02116390 0.10283578 0.05460429
+v 0.00028356 0.09165045 0.04371334
+v 0.02135916 0.10283581 0.04638657
+v 0.01892154 0.10006573 0.04371337
+v 0.00028356 0.10110884 0.06036851
+v 0.00985451 0.09760893 0.06071639
+v 0.01369045 0.09760893 0.06067309
+v 0.01752324 0.09978368 0.06012715
+v 0.02519508 0.09653812 0.06035185
+v 0.01965848 0.09957913 0.05997901
+v 0.02247089 0.10283578 0.05422980
+v 0.00028356 0.09239499 0.05430131
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+v 0.02482030 0.10283581 0.04725712
+v 0.00028356 0.09760893 0.06061152
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+v 0.02903102 0.09378096 0.06055491
+v 0.02903102 0.09605709 0.06018372
+v 0.03120407 0.09578064 0.06000229
+v 0.02504077 0.10283578 0.05329930
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+v 0.03245438 0.09263462 0.04687258
+v 0.03245438 0.09503974 0.05823457
+v 0.03245438 0.09499367 0.05795494
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+f 41 51 42
+f 43 49 44
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+
diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_49.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f6d85f00ab1cefd89781035750aa9d6c1d2208a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_49.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.00165253 0.11621128 0.05430084
+v -0.00165253 0.11530351 0.05655136
+v 0.00028042 0.11527664 0.05653043
+v 0.00028042 0.11616922 0.05430084
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+v -0.00932353 0.11555938 0.05153234
+v -0.00548934 0.11604070 0.05430084
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+v -0.00165253 0.11292370 0.05668059
+v 0.00028042 0.11409665 0.05659506
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+v -0.02082871 0.10844567 0.04805198
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+v -0.01531542 0.11090605 0.05622156
+v -0.01316036 0.11084764 0.05627098
+v 0.00028042 0.11292372 0.05052870
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+v -0.02474750 0.10427605 0.05305957
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+v -0.01794647 0.10427606 0.04996604
+v -0.01852820 0.10427606 0.04844448
+v -0.02673332 0.10427605 0.05055148
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+f 1 9 10
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diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_5.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35f0b851ab2c2d07d60bb458839a8f713367e3c4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_5.obj
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+
diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_50.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0883a1ba8af44fc4afc89e47552bd465cadb714
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_50.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.02645663 -0.10180885 0.05055046
+v -0.02635980 -0.10180884 0.04981098
+v -0.02608238 -0.10259117 0.05055045
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+v -0.02390488 -0.10530679 0.05344487
+v -0.02489417 -0.10180886 0.05330352
+v -0.02460106 -0.10180884 0.04770947
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+v -0.02413522 -0.10549530 0.05039636
+v -0.02316946 -0.10778598 0.05154454
+v -0.01949233 -0.11149214 0.05333340
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+v -0.01556134 -0.11129095 0.05625867
+v -0.02097628 -0.10180886 0.05320296
+v -0.01556134 -0.11086744 0.05625867
+v -0.01315877 -0.11085055 0.05628223
+v 0.00027782 -0.11100955 0.05621335
+v -0.02442310 -0.10180884 0.04768228
+v -0.02086111 -0.10549529 0.04812268
+v -0.01960487 -0.10764103 0.04850508
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+v -0.01949233 -0.11149213 0.05178740
+v -0.01690133 -0.11214219 0.05446980
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+v -0.01071695 -0.11417962 0.05591429
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+v -0.00548785 -0.11518143 0.05642269
+v -0.00165367 -0.11535309 0.05655953
+v -0.00165367 -0.11296251 0.05658038
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+v 0.00027782 -0.11296251 0.05660755
+v -0.02083234 -0.10180883 0.04734969
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+v -0.00932461 -0.11542061 0.05172850
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+v -0.00165367 -0.11617056 0.05430030
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+v 0.00027782 -0.11414865 0.05659668
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+v -0.02058370 -0.10180883 0.04737143
+v 0.00027782 -0.11296249 0.05062019
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+v 0.00027782 -0.11594685 0.05292016
+v 0.00027782 -0.11618323 0.05430030
+v 0.00027782 -0.11576956 0.05544847
+v 0.00027782 -0.11168629 0.05106968
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+f 1 30 47
+f 1 47 49
+f 1 49 33
+f 1 33 18
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+f 48 55 49
+f 49 55 50
+
diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_51.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3578848a9abd84e16090cb9b22da8da2b0380316
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_51.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.02499362 0.10188396 0.04577190
+v -0.02069617 0.10112369 0.04577190
+v -0.02688371 0.10016286 0.04577190
+v -0.02480981 0.10427421 0.04697234
+v -0.02080342 0.10427421 0.04719298
+v -0.01708219 0.09772519 0.04577476
+v -0.01708219 0.09767412 0.04577189
+v -0.02748937 0.10143727 0.04730474
+v -0.02700862 0.10406456 0.04808425
+v -0.02662327 0.10427420 0.04798407
+v -0.02911902 0.09432487 0.04577188
+v -0.01853155 0.10427420 0.04844424
+v -0.01708219 0.09966325 0.05614628
+v -0.01794826 0.10427420 0.04965776
+v -0.01708219 0.08984335 0.04577186
+v -0.02911902 0.09669137 0.05594885
+v -0.02911902 0.09636682 0.05857331
+v -0.02692256 0.10394238 0.05055192
+v -0.02673287 0.10427419 0.05055192
+v -0.02911902 0.09557743 0.04670957
+v -0.02911902 0.08564993 0.04577184
+v -0.01708219 0.09994219 0.05791140
+v -0.01794826 0.10427420 0.04996548
+v -0.01708219 0.09049238 0.05430128
+v -0.02911902 0.09609518 0.06020341
+v -0.02633812 0.10427419 0.05178865
+v -0.02911902 0.08630260 0.05430127
+v -0.01708219 0.09981638 0.06015264
+v -0.01796358 0.10427419 0.05055918
+v -0.01708219 0.09117609 0.05746573
+v -0.02605178 0.08783593 0.05668622
+v -0.02911902 0.09579249 0.06026873
+v -0.02850038 0.09617721 0.06024988
+v -0.01923620 0.09960306 0.05999875
+v -0.02511616 0.10427419 0.05297896
+v -0.02556865 0.10427419 0.05281492
+v -0.02911902 0.08693890 0.05693008
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+v -0.01851269 0.10427419 0.05220235
+v -0.02084230 0.10427418 0.05343910
+v -0.02138551 0.10427418 0.05345072
+v -0.02474852 0.10427419 0.05306024
+v -0.01708219 0.09120892 0.05755864
+v -0.02911902 0.08715585 0.05757458
+v -0.02911902 0.09379424 0.06056048
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+v -0.02911902 0.09039027 0.06029485
+v -0.01708219 0.09441597 0.06028614
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+
diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_6.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9473fc01bb106c582ecc59670e17356a32631797
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_6.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.01315870 0.09760926 0.06065461
+v -0.01315870 0.10014429 0.06032245
+v -0.01699264 0.09760926 0.06051619
+v -0.01708100 0.09751670 0.06051184
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+v 0.00027872 0.10279089 0.05805108
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+v -0.00548915 0.10213939 0.05805108
+v -0.01708100 0.09772463 0.04577478
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+v 0.00027872 0.09752435 0.04577189
+v -0.01707420 0.09772337 0.04577189
+v -0.01708100 0.09994275 0.05791121
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+v -0.01708100 0.08984187 0.04577186
+v 0.00027872 0.09239466 0.05430084
+v -0.01708100 0.09049209 0.05430083
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+f 34 36 35
+f 35 36 37
+
diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_7.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ee78232490217e17c01bcdfdd79bbd65c92765d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_7.obj
@@ -0,0 +1,685 @@
+# https://github.com/mikedh/trimesh
+v 0.03285386 -0.04484346 -0.02221980
+v 0.03323878 -0.04484346 -0.02206869
+v 0.03286956 -0.04497916 -0.02215393
+v 0.03285386 -0.04497539 -0.02216169
+v 0.03285386 -0.04484348 -0.01677153
+v 0.03751609 -0.04484347 -0.02037528
+v 0.03285386 -0.04786654 -0.02076281
+v 0.03909505 -0.04639269 -0.01905391
+v 0.03643990 -0.04775347 -0.01945692
+v 0.03285386 -0.07761115 0.01736730
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+v 0.03992773 -0.04484347 -0.01933292
+v 0.03286956 -0.04787786 -0.02075119
+v 0.03498269 -0.04993595 -0.01891444
+v 0.03285386 -0.05067855 -0.01931355
+v 0.04143206 -0.04484347 -0.01864703
+v 0.04165201 -0.04505079 -0.01845718
+v 0.04044227 -0.04775348 -0.01765894
+v 0.03753966 -0.04894461 -0.01838356
+v 0.03285386 -0.08334820 0.01736728
+v 0.07297975 -0.04484360 0.01736743
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+v 0.03285386 -0.05592180 -0.01623293
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+v 0.04210763 -0.04484347 -0.01831378
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+v 0.04651457 -0.04622688 -0.01524478
+v 0.04266145 -0.04998120 -0.01520604
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+v 0.03865514 -0.05364508 -0.01510530
+v 0.03666770 -0.08127878 0.01693328
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+v 0.03745718 -0.06043004 -0.01073817
+v 0.03740612 -0.08106395 0.01736729
+v 0.03664021 -0.08147102 0.01736729
+v 0.04281068 -0.07680827 0.01444554
+v 0.03285386 -0.08142957 0.01296526
+v 0.03296776 -0.08137680 0.01295752
+v 0.03431104 -0.08017433 0.01165164
+v 0.04179343 -0.07621266 0.01194614
+v 0.07025389 -0.05013962 0.01736741
+v 0.06981792 -0.05056182 0.01679001
+v 0.06937801 -0.04989838 0.01475176
+v 0.06994361 -0.04773097 0.01331800
+v 0.07096088 -0.04484358 0.01224850
+v 0.06951938 -0.04635513 0.01077987
+v 0.03296776 -0.05931050 -0.01391570
+v 0.03285386 -0.05918989 -0.01405906
+v 0.04959786 -0.04916702 -0.01091250
+v 0.04628281 -0.05743713 -0.00757615
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diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_8.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..398bfab973c2822ed25e7feb656d9d6e0cd2def5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_8.obj
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diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_9.obj b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/mjcf/mesh/metal_colander_collision_9.obj
new file mode 100644
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diff --git a/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/video.mp4 b/dataset/kitchen_supplies/tableware/bb7a94ef69bd54f5801cc667b588e3d3/video.mp4
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