diff --git a/.gitattributes b/.gitattributes
index daac42d96f53fe96dcbb52e5c894ef9e77be71fd..1003d6de4fcd3c3878bda40956077c11507df5b3 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4607,3 +4607,6 @@ dataset/kitchen_supplies/utensils/e8c2e3c2d08e5b79b2400d4545686d3d/mesh/plate_gs
 dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/e9661e1c79735c2093d1aa29be33d9ff.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mesh/pepper_grinder.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mesh/pepper_grinder_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/e21c79e7f3145a248ac028d6767daea1.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mesh/utensil_holder.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mesh/utensil_holder_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/e21c79e7f3145a248ac028d6767daea1.urdf b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/e21c79e7f3145a248ac028d6767daea1.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b452d4c549f27b14c288ebf099488e66c514cce9
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/e21c79e7f3145a248ac028d6767daea1.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="utensil_holder">
+   <link name="utensil_holder">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/utensil_holder.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/utensil_holder_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.7500" />
+         <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>0.175000</scale>
+         <version>v0.1.7</version>
+         <category>utensil holder</category>
+         <description>cylindrical white holder containing utensils like spoons and forks</description>
+         <min_height>0.15</min_height>
+         <max_height>0.2</max_height>
+         <real_height>0.175</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>1.0</max_mass>
+         <generate_time>20260120023645</generate_time>
+         <gs_model>mesh/utensil_holder_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.398138046264648</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</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/utensils/e21c79e7f3145a248ac028d6767daea1/e21c79e7f3145a248ac028d6767daea1.usd b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/e21c79e7f3145a248ac028d6767daea1.usd
new file mode 100644
index 0000000000000000000000000000000000000000..8bb2d5fe527172b72e537a0a34c0bf3ccbb7c6e6
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/e21c79e7f3145a248ac028d6767daea1.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c7ab3a5194ab07e8860b7cf8a34ebb352087a68e2fade002bc9c939c84f8cbe
+size 429729
diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mesh/material.mtl b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/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/utensils/e21c79e7f3145a248ac028d6767daea1/mesh/material_0.png b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e2dd3122b32afce947ddbb777e1bf023db6c9bfc
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc236e3673d054160f761bbbf708cdec1a2b530a8a657004d483640bc88f6ec0
+size 1706608
diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mesh/utensil_holder.glb b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mesh/utensil_holder.glb
new file mode 100644
index 0000000000000000000000000000000000000000..364930be5a52f7ffda371b22f3758c7a94c04eac
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mesh/utensil_holder.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:299fa811622d2cfd8715b15c5cd0b59bd2fc5440f03716db35c654a638d99c8b
+size 2006360
diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mesh/utensil_holder.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mesh/utensil_holder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fb80f8a32c86047160edd1e2c6a54f7a7b0ccc9
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mesh/utensil_holder.obj
@@ -0,0 +1,27451 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mesh/utensil_holder_collision.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mesh/utensil_holder_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36ec7a18719842b2f3f29e08218cecd26dc3a204
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mesh/utensil_holder_collision.obj
@@ -0,0 +1,13908 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e2dd3122b32afce947ddbb777e1bf023db6c9bfc
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc236e3673d054160f761bbbf708cdec1a2b530a8a657004d483640bc88f6ec0
+size 1706608
diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c44fe8635b271f461cd31f0d1eddb6718fe2b383
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder.obj
@@ -0,0 +1,27451 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8743cc70ecdce42fe32fd7fa8e625333dddfd6bc
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision.obj
@@ -0,0 +1,13908 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_0.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d00482fb15767e14f1e0af6b62760954458f557
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_0.obj
@@ -0,0 +1,820 @@
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diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_1.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50ced1b121e33f0f6e84aa51653596e79d05e91d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_1.obj
@@ -0,0 +1,1339 @@
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diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_10.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bb93a2fadcef6e10aa7194681fa457737e33438
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_10.obj
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+
diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_11.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e40ecf4143b561db4d0fb8aa47e35f034e6311c0
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_11.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_12.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86f8f75fd09442fe553f34496cf7d87b2f8d7c16
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_12.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_13.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9daa902cbce135289bd0ae87bbc97c4c1cccad32
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_13.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.03154669 -0.02638677 0.00778565
+v -0.03114111 -0.02700489 0.00778565
+v -0.02067083 -0.02638677 0.00778565
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+
diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_14.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9f0fa9b8a2c4b9eb2ce1c35b95b0d4c1c156287
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_14.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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+v -0.01149596 -0.02781218 0.02554562
+v -0.01221072 -0.02782188 0.02554562
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+
diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_15.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ca8fa916cab5c7fc33ec441089266b68021a563
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_15.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_16.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77e115d77d78e48a43d3a132e98618ee5763f62d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_16.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_17.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd9a2bd69d0630cfa0f7a2a2f6e1129c5caa4cb8
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_17.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.03055599 0.02456436 0.04369742
+v -0.03050785 0.02456436 0.04369570
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+
diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_18.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e973fd6a5319e5abc36e1dd170c773b8b556cd9
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_18.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_19.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05eb9f75790dc41d3d90367fe70e9dfc26b6030a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_19.obj
@@ -0,0 +1,565 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_2.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1be32a203c3b1858be35bd86f19b4cee0fc60a14
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_2.obj
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diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_20.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c2ebd874830a54c2131716ecd1ccf19c23eea2d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_20.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_21.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69d611e6770d571b55c5db4402905c07065a4a11
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_21.obj
@@ -0,0 +1,397 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_22.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2a0f0ed1a34989762f6826cf1a445889dc515c2
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_22.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_23.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40d633a3e57207b0d4dd13ce5b6e14303c7217e4
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_23.obj
@@ -0,0 +1,367 @@
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diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_24.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b8c41b4e8c2f22fe188d3b2bb63ad0930d10ca5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_24.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_25.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcd67a9f0173b781241c794b0309431ca82fb402
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_25.obj
@@ -0,0 +1,349 @@
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diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_26.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2af2aabd0a39a175c9ce6c50f280bebdd4db98d0
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_26.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_27.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32fe6c37d27db1f06f8d04d5b8e5e0afbd58c7c2
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_27.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_28.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..320fdb4af03e9187ae9d184406878da8b16d8d7f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_28.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_29.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4db48701782b89bd47d249cd14405c4ba93b7403
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_29.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
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+v -0.03635180 0.02456443 0.02517443
+v -0.02453059 0.02456441 0.03091217
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+
diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_3.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5e3a0764ec147315902c9979ac226c7b80e02be
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_3.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_30.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cde728b0af87956ef0bb32f9c8531bd8323c0993
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_30.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_31.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3df5af46330fc97145326dd9d2df510000ac960
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_31.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00675542 -0.05213640 0.02602551
+v 0.00675542 -0.05213640 0.08006882
+v 0.00675542 -0.03740276 0.02602551
+v 0.00675542 -0.03740276 0.08006882
+v 0.00775542 -0.05213640 0.02602551
+v 0.00775542 -0.05213640 0.08006882
+v 0.00775542 -0.03740276 0.02602551
+v 0.00775542 -0.03740276 0.08006882
+f 2 4 1
+f 5 2 1
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+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_32.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0619bd2b08e9614f07e5d3b3cdb2cdc4b8a0041
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_32.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_33.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30186b62cdcac39530e3000f83b07124491b51e3
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_33.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_34.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..664c12ef8130c2bbb110ed6493d5b5c692e971a1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_34.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_35.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..722dec347a9ec4b3bf40242787d2617a5007d68c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_35.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v -0.02868219 0.02456441 0.03091217
+v -0.02452955 0.02456441 0.03091217
+v -0.02885941 0.02411458 0.03091217
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+
diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_36.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0843bb1b629a02254b2fc8b26ea5e8414c82cc6
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_36.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.03653090 -0.01507420 0.00634220
+v -0.03643080 -0.01542745 0.00634220
+v -0.02696796 -0.01507420 0.00634220
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+
diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_37.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd7ad70a70e9328282d4321cdf96d827a2426f48
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_37.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_38.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3496c37c2a1a89833e706bdf289082a9421d9658
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_38.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+f 4 24 13
+f 4 13 5
+f 8 15 16
+f 8 16 14
+f 9 17 10
+f 10 16 18
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 10 17 16
+f 12 22 21
+f 13 24 23
+f 14 16 17
+f 15 25 16
+f 16 25 18
+f 18 25 19
+f 19 25 26
+f 19 26 27
+f 19 27 28
+f 21 22 29
+f 22 30 24
+f 22 24 29
+f 22 31 32
+f 22 32 30
+f 23 33 34
+f 23 24 33
+f 24 30 33
+f 27 35 28
+f 28 35 36
+f 28 36 37
+f 28 37 38
+f 30 32 33
+f 31 39 32
+f 32 39 40
+f 32 40 33
+f 33 40 41
+f 33 41 34
+f 34 41 40
+f 34 40 43
+f 34 43 42
+f 35 44 45
+f 35 45 36
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+f 36 46 47
+f 36 47 37
+f 37 47 48
+f 37 48 49
+f 37 49 38
+f 39 50 40
+f 39 51 52
+f 39 52 50
+f 40 50 53
+f 40 53 43
+f 42 43 54
+f 43 53 55
+f 43 55 56
+f 43 56 54
+f 44 57 45
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+f 46 48 47
+f 46 57 52
+f 46 52 59
+f 46 59 58
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+f 50 52 53
+f 51 59 52
+f 52 61 53
+f 52 57 61
+f 53 61 56
+f 53 56 55
+f 56 61 62
+f 57 63 61
+f 61 63 62
+
diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_39.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70abcbff2fb7507c1ef25126fb4748037efd04fb
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_39.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.00681618 -0.05159386 0.01568677
+v 0.00665414 -0.05157882 0.01568677
+v 0.00757818 -0.04763156 -0.06426198
+v 0.00769393 -0.04764210 -0.06426198
+v 0.00769393 -0.05125226 0.00735225
+v 0.00769393 -0.05142230 0.01080344
+v 0.00769393 -0.05155021 0.01343293
+v 0.00681618 -0.04245855 0.01568680
+v 0.00662616 -0.05157581 0.01568677
+v 0.00664160 -0.04753677 -0.06426198
+v 0.00681618 -0.04755482 -0.06426198
+v 0.00769393 -0.03877313 -0.06426195
+v 0.00769393 -0.04255936 0.01343296
+v 0.00769393 -0.04173622 0.00322807
+v 0.00769393 -0.04043155 -0.01308880
+v -0.00215999 -0.03951523 0.00428456
+v -0.00215999 -0.03974847 0.00718012
+v -0.00215999 -0.04044520 0.01568681
+v 0.00650270 -0.05155925 0.01568677
+v 0.00527578 -0.05119659 0.01168776
+v 0.00376529 -0.04705976 -0.06426198
+v 0.00495845 -0.05124776 0.01362075
+v 0.00465365 -0.05130345 0.01568677
+v -0.00215999 -0.03622108 -0.06426194
+v 0.00769393 -0.03879571 -0.06230549
+v 0.00769393 -0.04027354 -0.01598436
+v -0.00215999 -0.03762516 -0.02438930
+v -0.00215999 -0.03778166 -0.02153287
+v -0.00215999 -0.03809918 -0.01598435
+v -0.00215999 -0.04980171 0.01568678
+v 0.00089091 -0.04641272 -0.06426198
+v 0.00458227 -0.05129141 0.01568677
+v 0.00323092 -0.05104914 0.01568677
+v 0.00304091 -0.05101153 0.01568677
+v 0.00089091 -0.05043219 0.01297120
+v -0.00215999 -0.04553245 -0.06426198
+v -0.00215999 -0.03624817 -0.06196897
+v 0.00769393 -0.03883183 -0.05940211
+v 0.00769393 -0.04003577 -0.02183809
+v -0.00215999 -0.03663193 -0.04782768
+v -0.00215999 -0.03750176 -0.02726139
+v -0.00215999 -0.03761312 -0.02466321
+v -0.00198444 -0.04985588 0.01568678
+v -0.00215999 -0.04965725 0.01297121
+v -0.00064081 -0.04598688 -0.06426198
+v 0.00089091 -0.05056913 0.01568677
+v -0.00196514 -0.04559564 -0.06426198
+v -0.00215999 -0.03630085 -0.05940992
+v 0.00769393 -0.03888752 -0.05650655
+v 0.00769393 -0.03955570 -0.03428117
+v -0.00215999 -0.03660936 -0.04839897
+v -0.00198444 -0.04971142 0.01297121
+v -0.00143850 -0.04576418 -0.06426198
+v -0.00215999 -0.03636105 -0.05651436
+v -0.00215999 -0.03643479 -0.05372053
+v 0.00769393 -0.03896878 -0.05361098
+v 0.00769393 -0.03949551 -0.03618285
+v -0.00215999 -0.03651305 -0.05104410
+v -0.00215999 -0.03652358 -0.05072324
+v 0.00769393 -0.03914185 -0.04781986
+v 0.00769393 -0.03922914 -0.04492430
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 13
+f 1 13 8
+f 1 8 18
+f 1 18 30
+f 1 30 43
+f 1 43 46
+f 1 46 34
+f 1 34 33
+f 1 33 32
+f 1 32 23
+f 1 23 19
+f 1 19 9
+f 1 9 2
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 3 11 10
+f 3 10 21
+f 3 21 31
+f 3 31 45
+f 3 45 53
+f 3 53 47
+f 3 47 36
+f 3 36 24
+f 3 24 12
+f 3 12 4
+f 4 12 25
+f 4 25 38
+f 4 38 49
+f 4 49 56
+f 4 56 60
+f 4 60 61
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+f 4 57 50
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+f 4 39 26
+f 4 26 15
+f 4 15 14
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+f 4 13 7
+f 4 7 6
+f 4 6 5
+f 8 13 14
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+f 8 17 18
+f 9 19 20
+f 9 20 10
+f 10 20 22
+f 10 22 23
+f 10 23 21
+f 12 24 25
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 16
+f 16 29 28
+f 16 28 27
+f 16 27 42
+f 16 42 41
+f 16 41 40
+f 16 40 51
+f 16 51 59
+f 16 59 58
+f 16 58 55
+f 16 55 54
+f 16 54 48
+f 16 48 37
+f 16 37 24
+f 16 24 36
+f 16 36 44
+f 16 44 30
+f 16 30 18
+f 16 18 17
+f 19 23 22
+f 19 22 20
+f 21 23 32
+f 21 32 33
+f 21 33 34
+f 21 34 35
+f 21 35 31
+f 24 37 25
+f 25 37 38
+f 26 39 40
+f 26 40 41
+f 26 41 42
+f 26 42 27
+f 30 44 52
+f 30 52 43
+f 31 35 43
+f 31 43 45
+f 34 46 35
+f 35 46 43
+f 36 47 44
+f 37 48 49
+f 37 49 38
+f 39 50 51
+f 39 51 40
+f 43 52 53
+f 43 53 45
+f 44 47 53
+f 44 53 52
+f 48 54 49
+f 49 54 55
+f 49 55 56
+f 50 57 58
+f 50 58 59
+f 50 59 51
+f 55 58 56
+f 56 58 60
+f 57 61 58
+f 58 61 60
+
diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_4.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4449ce2e533b937423e1ab31529979e855aa61eb
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_4.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.02909777 0.00012061 -0.00692370
+v -0.02441438 0.02179287 -0.01887674
+v -0.02461011 0.02179286 -0.01596846
+v -0.02531192 0.02179283 -0.00692362
+v -0.03851391 0.00012061 -0.00692370
+v -0.02499981 0.00012087 -0.07956682
+v -0.02061442 0.02179309 -0.07956674
+v -0.03514068 0.02179283 -0.00692362
+v -0.03858444 0.00138284 -0.00692369
+v -0.03534346 0.00012086 -0.07677942
+v -0.03521121 0.00012087 -0.07956682
+v -0.03150823 0.02179309 -0.07956674
+v -0.03537872 0.02118611 -0.00692362
+v -0.03151705 0.02179309 -0.07944586
+v -0.03165106 0.02150033 -0.07941742
+v -0.03218535 0.02035902 -0.07827971
+v -0.03860384 0.00174772 -0.00692369
+v -0.03542457 0.00174797 -0.07677941
+v -0.03529056 0.00174798 -0.07956681
+v -0.03163519 0.02151518 -0.07956674
+v -0.03616164 0.01892045 -0.00692363
+v -0.03173746 0.02126698 -0.07956674
+v -0.03215008 0.02025719 -0.07956675
+v -0.03247629 0.01931529 -0.07956675
+v -0.03255212 0.01911800 -0.07941743
+v -0.03862676 0.00461161 -0.00692368
+v -0.03539107 0.00461186 -0.07677940
+v -0.03525000 0.00449731 -0.07956680
+v -0.03698158 0.01605868 -0.00692364
+v -0.03350608 0.01605894 -0.07956676
+v -0.03255035 0.01908830 -0.07956675
+v -0.03307759 0.01742088 -0.07956676
+v -0.03849452 0.00710850 -0.00692367
+v -0.03512304 0.00675236 -0.07956680
+v -0.03524824 0.00461187 -0.07956680
+v -0.03847512 0.00747338 -0.00692367
+v -0.03705388 0.01574472 -0.00692364
+v -0.03353429 0.01594439 -0.07956676
+v -0.03419906 0.01319505 -0.07956677
+v -0.03517947 0.00765819 -0.07682916
+v -0.03504369 0.00873587 -0.07781755
+v -0.03499432 0.00818219 -0.07956679
+v -0.03812774 0.01044970 -0.00692366
+v -0.03766928 0.01305054 -0.00692365
+v -0.03422198 0.01307201 -0.07956677
+v -0.03793907 0.01175012 -0.00692366
+v -0.03775745 0.01263899 -0.00692365
+v -0.03487794 0.01013174 -0.07682915
+v -0.03472629 0.01023570 -0.07956678
+v -0.03471219 0.01032692 -0.07956678
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 13
+f 1 13 21
+f 1 21 29
+f 1 29 37
+f 1 37 44
+f 1 44 47
+f 1 47 46
+f 1 46 43
+f 1 43 36
+f 1 36 33
+f 1 33 26
+f 1 26 17
+f 1 17 9
+f 1 9 5
+f 1 5 10
+f 1 10 11
+f 1 11 6
+f 1 6 7
+f 1 7 2
+f 2 7 12
+f 2 12 14
+f 2 14 8
+f 2 8 4
+f 2 4 3
+f 5 9 10
+f 6 11 19
+f 6 19 28
+f 6 28 35
+f 6 35 34
+f 6 34 42
+f 6 42 49
+f 6 49 50
+f 6 50 45
+f 6 45 39
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+f 6 38 30
+f 6 30 32
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+f 6 31 24
+f 6 24 23
+f 6 23 22
+f 6 22 20
+f 6 20 12
+f 6 12 7
+f 8 14 15
+f 8 15 16
+f 8 16 13
+f 9 17 10
+f 10 18 11
+f 10 17 18
+f 11 18 19
+f 12 20 14
+f 13 16 21
+f 14 20 15
+f 15 20 22
+f 15 22 23
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+f 16 23 24
+f 16 24 25
+f 16 25 21
+f 17 26 18
+f 18 27 19
+f 18 26 27
+f 19 27 28
+f 21 25 30
+f 21 30 29
+f 24 31 25
+f 25 31 32
+f 25 32 30
+f 26 33 27
+f 27 34 35
+f 27 35 28
+f 27 33 36
+f 27 36 34
+f 29 30 38
+f 29 38 39
+f 29 39 37
+f 34 36 40
+f 34 40 41
+f 34 41 42
+f 36 43 41
+f 36 41 40
+f 37 39 44
+f 39 45 46
+f 39 46 47
+f 39 47 44
+f 41 48 49
+f 41 49 42
+f 41 43 46
+f 41 46 48
+f 45 50 46
+f 46 50 48
+f 48 50 49
+
diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_40.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3860cf647646bbe81b18a7cef9a94ef06ad73eb8
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_40.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.03927542 0.00012056 0.00634226
+v -0.03920871 -0.00111543 0.00634226
+v -0.02965693 0.00012056 0.00634226
+v -0.03534353 0.00012086 -0.07678212
+v -0.03513971 -0.00096639 -0.07997596
+v -0.03899192 -0.00314566 0.00634225
+v -0.03528239 -0.00111513 -0.07678212
+v -0.03514898 -0.00115825 -0.07955349
+v -0.03509154 -0.00161933 -0.07997597
+v -0.03507301 -0.00265899 -0.07851424
+v -0.02697020 -0.01507420 0.00634220
+v -0.02680159 -0.01507420 0.00428902
+v -0.02657183 -0.01507419 0.00139090
+v -0.02046461 -0.01365794 -0.07997601
+v -0.02959764 0.00012056 0.00553958
+v -0.03520827 0.00012087 -0.07961264
+v -0.03518418 0.00012087 -0.07997596
+v -0.03890113 -0.00397858 0.00634225
+v -0.03495442 -0.00299959 -0.07997597
+v -0.03489142 -0.00375814 -0.07955350
+v -0.03653311 -0.01507420 0.00634220
+v -0.02034603 -0.01507389 -0.07997602
+v -0.02377763 0.00012087 -0.07997596
+v -0.03846755 -0.00684024 0.00634223
+v -0.03493589 -0.00441110 -0.07678214
+v -0.03443375 -0.00683993 -0.07968026
+v -0.03485807 -0.00378938 -0.07997597
+v -0.03445599 -0.00654989 -0.07997598
+v -0.03724277 -0.01256356 0.00634221
+v -0.03382043 -0.00970159 -0.07968027
+v -0.03301071 -0.01256325 -0.07968028
+v -0.03237145 -0.01450126 -0.07968028
+v -0.03215466 -0.01507389 -0.07968029
+v -0.03213243 -0.01507389 -0.07997602
+v -0.03808029 -0.00891807 0.00634223
+v -0.03441152 -0.00683993 -0.07997599
+v -0.03386120 -0.00941156 -0.07997599
+v -0.03775788 -0.01034890 0.00634222
+v -0.03379820 -0.00970159 -0.07997600
+v -0.03298848 -0.01256325 -0.07997601
+v -0.03236034 -0.01447152 -0.07997601
+f 1 2 6
+f 1 6 18
+f 1 18 24
+f 1 24 35
+f 1 35 38
+f 1 38 29
+f 1 29 21
+f 1 21 11
+f 1 11 3
+f 1 3 15
+f 1 15 23
+f 1 23 17
+f 1 17 16
+f 1 16 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 6
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 4 16 5
+f 5 9 8
+f 5 8 7
+f 5 16 17
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+f 5 23 14
+f 5 14 22
+f 5 22 34
+f 5 34 41
+f 5 41 40
+f 5 40 39
+f 5 39 37
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+f 5 36 28
+f 5 28 27
+f 5 27 19
+f 5 19 9
+f 6 10 18
+f 9 19 10
+f 10 19 20
+f 10 20 18
+f 11 21 33
+f 11 33 34
+f 11 34 22
+f 11 22 13
+f 11 13 12
+f 13 22 14
+f 14 23 15
+f 18 20 25
+f 18 25 26
+f 18 26 24
+f 19 27 20
+f 20 27 28
+f 20 28 26
+f 20 26 25
+f 21 29 30
+f 21 30 31
+f 21 31 32
+f 21 32 33
+f 24 26 35
+f 26 28 36
+f 26 36 37
+f 26 37 30
+f 26 30 35
+f 29 38 30
+f 30 37 39
+f 30 39 40
+f 30 40 31
+f 30 38 35
+f 31 40 41
+f 31 41 32
+f 32 41 34
+f 32 34 33
+
diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_41.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3172bc99ebd43a08b93e511af38c29709d4f359a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_41.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.00769402 -0.03865659 -0.07532489
+v 0.03366479 -0.03331542 -0.07532487
+v 0.00769402 -0.04722583 -0.07532492
+v 0.00769402 -0.03868763 -0.07099403
+v 0.03366479 -0.04291566 -0.07532491
+v 0.00769402 -0.03872049 -0.06809191
+v 0.03366479 -0.03333185 -0.07388720
+v 0.00951929 -0.04743386 -0.07532492
+v 0.00769402 -0.05168597 0.01586424
+v 0.03252590 -0.04339923 -0.07532491
+v 0.03366479 -0.04739952 0.01297106
+v 0.03270639 -0.04782104 0.01297105
+v 0.00769402 -0.03883001 -0.05941233
+v 0.03366479 -0.03337748 -0.07099401
+v 0.01239448 -0.04755976 -0.07532492
+v 0.00951929 -0.05185385 0.01586424
+v 0.00771181 -0.05168779 0.01589995
+v 0.00769402 -0.05168597 0.01589995
+v 0.02964817 -0.04449594 -0.07532491
+v 0.03126753 -0.04841775 0.01297105
+v 0.03114550 -0.04836847 0.01107797
+v 0.03366479 -0.04754551 0.01589997
+v 0.03288181 -0.04789039 0.01586425
+v 0.03144294 -0.04849075 0.01586425
+v 0.00769402 -0.03888659 -0.05651020
+v 0.03366479 -0.03342676 -0.06809189
+v 0.01527222 -0.04749772 -0.07532492
+v 0.01527222 -0.05191407 0.01589995
+v 0.01239448 -0.05195604 0.01586424
+v 0.00954726 -0.05185567 0.01589995
+v 0.00951929 -0.05185385 0.01589995
+v 0.00769402 -0.04250543 0.01589998
+v 0.02737293 -0.04523863 -0.07532492
+v 0.02964817 -0.04902176 0.01297105
+v 0.02677298 -0.04981371 0.01007786
+v 0.02964817 -0.04916410 0.01586425
+v 0.03366479 -0.03666061 0.01590001
+v 0.03290468 -0.04788127 0.01589996
+v 0.03145819 -0.04848528 0.01589996
+v 0.02966850 -0.04915680 0.01589996
+v 0.00769402 -0.03896871 -0.05361701
+v 0.03366479 -0.03356911 -0.06230550
+v 0.03366479 -0.03348881 -0.06519870
+v 0.03366479 -0.03347969 -0.06561838
+v 0.01672379 -0.04736451 -0.07532492
+v 0.01814740 -0.05172246 0.01589995
+v 0.01242244 -0.05195604 0.01589995
+v 0.01239448 -0.05195604 0.01589995
+v 0.00769402 -0.04043052 -0.01308552
+v 0.02666112 -0.04544483 -0.07532492
+v 0.02677298 -0.04996152 0.01297105
+v 0.02389779 -0.05040493 0.00718465
+v 0.02593406 -0.04565285 -0.07532492
+v 0.02677298 -0.05010022 0.01586425
+v 0.02964817 -0.04916410 0.01589996
+v 0.03366479 -0.03413852 -0.04483919
+v 0.00769402 -0.04027358 -0.01598764
+v 0.00769402 -0.03922786 -0.04492850
+v 0.00769402 -0.03949432 -0.03618642
+v 0.00769402 -0.03955454 -0.03428441
+v 0.03366479 -0.03366219 -0.05941231
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+v 0.01814740 -0.05157829 0.01297104
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+v 0.01988116 -0.05124982 0.01007785
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+v 0.02389779 -0.05055092 0.01007785
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+v 0.02102005 -0.04676781 -0.07532492
+v 0.02389779 -0.04615650 -0.07532492
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+v 0.02634335 -0.05020971 0.01589996
+v 0.02364357 -0.05089218 0.01589995
+v 0.00769402 -0.04003634 -0.02182761
+v 0.02219708 -0.05116773 0.01524809
+v 0.02182084 -0.05111115 0.01297104
+v 0.02137850 -0.05132101 0.01589995
+f 1 2 5
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+f 1 19 33
+f 1 33 50
+f 1 50 53
+f 1 53 72
+f 1 72 71
+f 1 71 62
+f 1 62 45
+f 1 45 27
+f 1 27 15
+f 1 15 8
+f 1 8 3
+f 1 3 9
+f 1 9 18
+f 1 18 32
+f 1 32 49
+f 1 49 57
+f 1 57 76
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+f 1 41 25
+f 1 25 13
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+f 2 14 26
+f 2 26 44
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+f 2 22 11
+f 2 11 5
+f 3 8 9
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+f 8 15 16
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+f 10 12 20
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+f 11 22 23
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+f 12 24 20
+f 13 25 26
+f 13 26 14
+f 15 27 28
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+f 23 39 24
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+f 27 45 46
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+f 29 48 30
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+f 34 51 35
+f 35 51 52
+f 35 52 53
+f 35 53 50
+f 36 54 51
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+f 36 73 54
+f 37 56 57
+f 37 57 49
+f 41 58 42
+f 42 58 59
+f 42 59 60
+f 42 60 61
+f 45 62 63
+f 45 63 46
+f 46 63 65
+f 46 65 66
+f 46 66 67
+f 46 67 64
+f 51 68 69
+f 51 69 52
+f 51 54 68
+f 52 69 70
+f 52 70 71
+f 52 71 72
+f 52 72 53
+f 54 73 74
+f 54 74 75
+f 54 75 68
+f 56 61 60
+f 56 60 76
+f 56 76 57
+f 62 71 77
+f 62 77 78
+f 62 78 67
+f 62 67 66
+f 62 66 65
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+f 64 67 77
+f 64 77 79
+f 67 78 77
+f 68 75 69
+f 69 75 70
+f 70 79 77
+f 70 77 71
+
diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_42.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96e086b8582f997bf5218f19aedaaac4cbfefff1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_42.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.01100403 0.04142357 0.02517449
+v -0.01326497 0.04245995 0.02517450
+v -0.01475829 0.04047836 0.02903081
+v -0.01169775 0.04072914 0.02639995
+v -0.01169775 0.03965242 0.02639995
+v -0.01109668 0.03926664 0.02517448
+v -0.01349106 0.04247749 0.02517450
+v -0.01525900 0.04047836 0.02903081
+v -0.01924156 0.03811800 0.03269944
+v -0.01721333 0.03804084 0.03232849
+v -0.01459286 0.03719211 0.02936311
+v -0.01721333 0.03673967 0.03232848
+v -0.01152460 0.03833197 0.02517448
+v -0.01619977 0.04164628 0.02517449
+v -0.02099957 0.03780060 0.03246870
+v -0.02227011 0.03558579 0.03566371
+v -0.02211791 0.03561735 0.03567475
+v -0.02019998 0.03540341 0.03516028
+v -0.01216869 0.03774451 0.02576513
+v -0.02019998 0.03416011 0.03516028
+v -0.02152014 0.02456444 0.02517443
+v -0.01626043 0.04160244 0.02517449
+v -0.02227011 0.03644506 0.03361356
+v -0.02099957 0.03780061 0.03128961
+v -0.02227011 0.03552441 0.03571008
+v -0.02227011 0.03328506 0.03645197
+v -0.02227011 0.03304306 0.03629078
+v -0.02227011 0.02456443 0.02640209
+v -0.02156757 0.02456444 0.02525281
+v -0.02227011 0.02456444 0.02517443
+v -0.01900995 0.03873705 0.02517448
+v -0.02227011 0.03642577 0.03334418
+v -0.02098744 0.03609437 0.02517447
+v -0.02227011 0.03429342 0.02517778
+v -0.02227011 0.03584359 0.03086346
+v -0.02227011 0.03110888 0.02517445
+v -0.02215320 0.03433902 0.02517447
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
+f 1 13 21
+f 1 21 30
+f 1 30 36
+f 1 36 37
+f 1 37 33
+f 1 33 31
+f 1 31 22
+f 1 22 14
+f 1 14 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 12
+f 4 12 5
+f 5 11 6
+f 5 12 11
+f 6 11 13
+f 7 14 15
+f 7 15 9
+f 7 9 8
+f 9 15 16
+f 9 16 17
+f 9 17 10
+f 10 17 18
+f 10 18 20
+f 10 20 12
+f 11 19 13
+f 11 12 20
+f 11 20 21
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+f 16 36 30
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+f 16 28 27
+f 16 27 26
+f 16 26 25
+f 16 25 17
+f 17 25 26
+f 17 26 18
+f 18 26 20
+f 20 26 27
+f 20 27 28
+f 20 28 29
+f 20 29 21
+f 21 29 28
+f 21 28 30
+f 22 31 24
+f 23 24 32
+f 24 31 33
+f 24 33 34
+f 24 34 35
+f 24 35 32
+f 33 37 34
+f 34 37 36
+
diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_43.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..235942af8d9496341d9818e642d583f1cc0414b2
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_43.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v -0.02288644 0.01817517 0.02452337
+v -0.01844813 0.02961294 0.02517445
+v -0.02288644 0.01908131 0.02484411
+v -0.02288644 0.01817520 0.01724179
+v -0.01844813 0.01817519 0.01783960
+v -0.01844813 0.03166828 0.02517446
+v -0.02288644 0.02005747 0.02517441
+v -0.02288644 0.02780070 0.01123230
+v -0.02100492 0.01817521 0.01457210
+v -0.01844813 0.01817522 0.01124728
+v -0.02288644 0.03166828 0.02517446
+v -0.01844813 0.03166831 0.01738105
+v -0.02288644 0.03166833 0.01123232
+v -0.01987731 0.03166833 0.01123232
+v -0.01864063 0.01817522 0.01147795
+v -0.02056300 0.01817521 0.01396064
+v -0.01844813 0.01847639 0.01133736
+v -0.01844813 0.03034740 0.01626049
+v -0.01844813 0.02003638 0.01196111
+v -0.01844813 0.01892021 0.01149978
+f 1 2 3
+f 1 3 7
+f 1 7 11
+f 1 11 13
+f 1 13 8
+f 1 8 4
+f 1 4 9
+f 1 9 16
+f 1 16 15
+f 1 15 10
+f 1 10 5
+f 1 5 2
+f 2 6 11
+f 2 11 7
+f 2 7 3
+f 2 5 10
+f 2 10 17
+f 2 17 20
+f 2 20 19
+f 2 19 18
+f 2 18 12
+f 2 12 6
+f 4 8 9
+f 6 12 14
+f 6 14 13
+f 6 13 11
+f 8 13 14
+f 8 14 10
+f 8 10 15
+f 8 15 16
+f 8 16 9
+f 10 14 17
+f 12 18 14
+f 14 18 19
+f 14 19 20
+f 14 20 17
+
diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_44.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e9a9d553e61830e37e07d0960b9d18325c014fb
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_44.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.00215999 -0.04044515 0.01568681
+v -0.00215999 -0.03528246 0.02208177
+v 0.00173304 -0.03679398 0.02014005
+v 0.00376568 -0.03678054 0.02012188
+v 0.00543977 -0.03684604 0.02016586
+v 0.00681683 -0.04245717 0.01568680
+v -0.00215999 -0.04980320 0.01568678
+v -0.00215999 -0.03457205 0.02453974
+v 0.00584049 -0.03676880 0.02166206
+v 0.00681683 -0.03805192 0.02134657
+v 0.00681683 -0.05159520 0.01568677
+v -0.00199653 -0.04985358 0.01568678
+v -0.00215999 -0.04981327 0.01587225
+v -0.00215999 -0.03478534 0.02545372
+v 0.00681683 -0.03730456 0.02545371
+v 0.00681683 -0.03716012 0.02460857
+v 0.00581589 -0.03677720 0.02368121
+v 0.00681683 -0.05160528 0.01587224
+v 0.00665425 -0.05158008 0.01568677
+v -0.00198511 -0.04985695 0.01568678
+v -0.00198511 -0.04986702 0.01587225
+v -0.00215999 -0.04992077 0.01876809
+v -0.00215999 -0.04133027 0.02545370
+v 0.00681683 -0.04405942 0.02545369
+v 0.00681683 -0.05172789 0.01876808
+v 0.00664195 -0.05158848 0.01587224
+v 0.00650310 -0.05156161 0.01568677
+v 0.00089029 -0.05057072 0.01568677
+v -0.00198511 -0.04997284 0.01876809
+v 0.00089029 -0.05057912 0.01587224
+v -0.00215999 -0.04946061 0.02165724
+v -0.00215999 -0.04692125 0.02425767
+v -0.00198511 -0.04691285 0.02428827
+v 0.00089029 -0.04691285 0.02452919
+v 0.00650661 -0.04399056 0.02545369
+v 0.00376568 -0.04691285 0.02467068
+v 0.00681683 -0.04677849 0.02480357
+v 0.00681683 -0.05151461 0.02091534
+v 0.00664195 -0.05148270 0.02114001
+v 0.00454077 -0.05133154 0.02062757
+v 0.00664195 -0.05171109 0.01876808
+v 0.00462601 -0.05130969 0.01587224
+v 0.00465413 -0.05130465 0.01568677
+v 0.00304156 -0.05101242 0.01568677
+v 0.00318831 -0.05105273 0.01587224
+v 0.00089029 -0.05068325 0.01876808
+v -0.00198511 -0.04950931 0.02166202
+v 0.00287459 -0.05110481 0.01876808
+v -0.00215999 -0.04865279 0.02341444
+v -0.00198511 -0.04867630 0.02343547
+v 0.00089029 -0.04900212 0.02368404
+v 0.00376568 -0.04928931 0.02384370
+v 0.00664195 -0.04954963 0.02392783
+v 0.00664195 -0.04691285 0.02476437
+v 0.00681683 -0.04955970 0.02393070
+v 0.00681683 -0.04691285 0.02476820
+v 0.00681683 -0.05148942 0.02116487
+v 0.00681683 -0.05146255 0.02125282
+v 0.00664195 -0.05098054 0.02258745
+v 0.00431316 -0.05137184 0.01876808
+v 0.00365583 -0.05078404 0.02161994
+v 0.00089029 -0.05018782 0.02166202
+v 0.00458295 -0.05129290 0.01568677
+v 0.00323137 -0.05105105 0.01568677
+v 0.00681683 -0.05099061 0.02261231
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 19
+f 1 19 27
+f 1 27 43
+f 1 43 63
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+f 1 20 12
+f 1 12 7
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+f 14 24 15
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+f 18 26 19
+f 19 26 27
+f 20 28 21
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+f 22 29 31
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+f 24 36 37
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+f 28 45 30
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+f 29 47 31
+f 30 45 48
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+f 32 49 50
+f 32 50 33
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+f 33 52 34
+f 34 52 53
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+f 36 54 37
+f 36 53 55
+f 36 55 54
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+f 39 58 59
+f 39 59 40
+f 40 48 60
+f 40 60 41
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+f 40 61 62
+f 40 62 47
+f 40 46 48
+f 41 60 42
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+f 42 60 45
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+f 44 64 45
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+f 45 60 48
+f 47 62 49
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+f 49 59 50
+f 50 59 51
+f 51 59 65
+f 51 65 52
+f 52 65 53
+f 53 65 55
+f 54 55 56
+f 58 65 59
+f 59 62 61
+
diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_45.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..380a68e785d6885cbf8d8fbde41babe5c2a2eb22
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_45.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
+v -0.02084225 -0.02638681 0.01876802
+v -0.02151247 -0.02638682 0.02165757
+v -0.02087271 -0.02638680 0.01551642
+v -0.02115586 -0.01542815 0.01587265
+v -0.02142466 -0.01542816 0.01876806
+v -0.02154831 -0.02638682 0.02172100
+v -0.02222750 -0.01542817 0.02166249
+v -0.02330631 -0.01606246 0.02548399
+v -0.02332244 -0.01720145 0.02548399
+v -0.03204971 -0.02638680 0.01551642
+v -0.02137807 -0.01542815 0.01551646
+v -0.02210923 -0.00663146 0.01628646
+v -0.02270419 -0.02638683 0.02341706
+v -0.02277945 -0.00663147 0.01849681
+v -0.02376866 -0.01463727 0.02548400
+v -0.02292461 -0.00663147 0.01880421
+v -0.02538867 -0.01994352 0.02548398
+v -0.02499800 -0.02638683 0.02424752
+v -0.03214469 -0.02638680 0.01687288
+v -0.03231314 -0.02595750 0.01551642
+v -0.02279737 -0.00663146 0.01551650
+v -0.02214327 -0.00663146 0.01623279
+v -0.02431703 -0.00663148 0.02147711
+v -0.02590837 -0.00663149 0.02451109
+v -0.02621839 -0.00767572 0.02548402
+v -0.02592449 -0.02057973 0.02548397
+v -0.02787066 -0.02638683 0.02438220
+v -0.03227372 -0.02638681 0.01876802
+v -0.03250847 -0.02600199 0.01876802
+v -0.03240095 -0.02581247 0.01551643
+v -0.03900106 -0.00663146 0.01551650
+v -0.02774163 -0.00663149 0.02453353
+v -0.02844591 -0.00697183 0.02548402
+v -0.02776851 -0.00700664 0.02548402
+v -0.02664131 -0.00726963 0.02548402
+v -0.02740472 -0.02075184 0.02548397
+v -0.03094581 -0.02416107 0.02387280
+v -0.03023795 -0.02638683 0.02364541
+v -0.02750866 -0.02075184 0.02548397
+v -0.02982757 -0.01731747 0.02548399
+v -0.03191531 -0.02638682 0.02138237
+v -0.03243142 -0.02587050 0.02091884
+v -0.03359266 -0.02401408 0.01876803
+v -0.03338479 -0.02401407 0.01551643
+v -0.03251206 -0.02560943 0.01551643
+v -0.03901002 -0.00663146 0.01566093
+v -0.03897060 -0.00684030 0.01551649
+v -0.03087771 -0.00663149 0.02422711
+v -0.03049780 -0.00725029 0.02548402
+v -0.03668932 -0.00663149 0.02362598
+v -0.03296724 -0.02115213 0.02364836
+v -0.03253356 -0.02330634 0.02339658
+v -0.03065908 -0.02638683 0.02337510
+v -0.03059457 -0.01561576 0.02548399
+v -0.03161962 -0.02638682 0.02209183
+v -0.03203896 -0.02521496 0.02284912
+v -0.03470552 -0.02174771 0.01876804
+v -0.03299233 -0.02416106 0.02179518
+v -0.03524672 -0.02017943 0.02072369
+v -0.03461592 -0.02156786 0.01587263
+v -0.03460517 -0.02154272 0.01551644
+v -0.03901898 -0.00663146 0.01584635
+v -0.03898852 -0.00684030 0.01587268
+v -0.03847241 -0.00935033 0.01551649
+v -0.03842044 -0.00970421 0.01587267
+v -0.03101749 -0.00803927 0.02548402
+v -0.03701189 -0.00663149 0.02350985
+v -0.03139561 -0.01254881 0.02548400
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+v -0.03136156 -0.00972744 0.02548401
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+
diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_46.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1692b838d91f1db0b1746b16b0fd3b0f9da8e7e9
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_46.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.03580669 0.00012048 0.02665667
+v -0.02590383 0.00012048 0.02665667
+v -0.03552968 -0.00008776 0.02665667
+v -0.03236022 -0.00271164 0.03132194
+v -0.03232987 -0.00267780 0.03324424
+v -0.03483764 0.00012044 0.03733609
+v -0.02580693 -0.00111567 0.02665667
+v -0.03175726 0.00012044 0.03849922
+v -0.03031348 -0.00335251 0.02665666
+v -0.03090469 -0.00312000 0.03035383
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+v -0.03438640 0.00012044 0.03791882
+v -0.02606925 -0.00311999 0.02670774
+v -0.02605555 -0.00314096 0.02665666
+v -0.03362193 0.00012044 0.03851547
+v -0.03177096 -0.00019669 0.03836109
+v -0.02906351 -0.00278927 0.03221112
+v -0.02775480 -0.00363800 0.02665666
+v -0.03101334 -0.00279736 0.03320245
+v -0.03215075 -0.00255677 0.03471962
+v -0.03362193 -0.00008044 0.03821598
+v -0.02854179 -0.00313950 0.03035035
+v -0.02769118 -0.00348458 0.02758531
+f 1 2 7
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+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 15
+f 1 15 8
+f 1 8 2
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+f 8 17 13
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+f 14 23 18
+f 15 21 16
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+f 18 23 22
+f 18 22 19
+
diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_47.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab75e36273cb42b80567ec8735d580528ce7d57d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_47.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.02808743 -0.00750073 0.01551552
+v -0.02808743 -0.00750072 0.01346913
+v -0.02808743 -0.00716950 0.01551552
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+v -0.03834447 -0.00750069 0.00634223
+v -0.03927475 0.00011981 0.00634226
+v -0.03976160 0.00011977 0.01551555
+v -0.03902446 -0.00648764 0.01551553
+v -0.03884046 -0.00683975 0.01297616
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+v -0.03839247 -0.00750070 0.00718539
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+v -0.03925417 -0.00028229 0.00634226
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+v -0.03964274 0.00011978 0.01297619
+v -0.03943817 -0.00362595 0.01551554
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+v -0.03957531 0.00011979 0.01172537
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+f 29 32 31
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+f 33 41 34
+f 35 41 36
+f 37 39 42
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+
diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_48.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abb0d438c456d7cd3e9a866deaf86aa89da63c56
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_48.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.02388016 0.00011977 0.01551484
+v -0.02227116 0.00011978 0.01297593
+v -0.02808629 -0.00750072 0.01346880
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+v -0.02808629 -0.00716950 0.01551481
+v -0.01908070 0.00011977 0.01551484
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+v -0.02783266 -0.00750072 0.01324903
+v -0.02808629 -0.00750073 0.01551481
+v -0.02103515 0.00011979 0.01106683
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+v -0.01901414 0.00011980 0.00900817
+v -0.01910136 -0.00071502 0.01551484
+v -0.01769090 0.00011978 0.01334525
+v -0.02491419 -0.00750072 0.01421165
+v -0.01819702 0.00011980 0.00834255
+v -0.01818095 -0.00111559 0.00838257
+v -0.01801454 -0.00277024 0.00852439
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+v -0.02010899 -0.00533655 0.01551482
+v -0.02019163 -0.00573119 0.01531331
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+f 28 38 29
+f 29 38 37
+f 30 36 31
+f 31 36 32
+f 32 34 35
+f 32 36 34
+
diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_49.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6528a0a51152392e7e8d788d3ecf93faeb98a395
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_49.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.03020829 0.02456436 0.04365798
+v -0.02922457 0.02456436 0.04353133
+v -0.02926031 0.02613339 0.04340831
+v -0.03020829 0.02498308 0.04361999
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+v -0.03020829 0.03454733 0.02517447
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+v -0.02636741 0.03470784 0.02517447
+v -0.02808388 0.03516261 0.02517447
+v -0.02227089 0.03584417 0.03086464
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diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_5.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16d90e7bbb96e0b85b4fbc249a48007f109f3cc3
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_5.obj
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diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_50.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4ab562a2531e6b1b86d58b33d678ce00736c0e1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_50.obj
@@ -0,0 +1,169 @@
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+
diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_51.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..839a4139a70c6ade84b42ac7daa27ed64ada727c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_51.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v -0.00216086 -0.04992126 0.01876796
+v -0.00486321 -0.04910098 0.01876796
+v -0.00486321 -0.04909449 0.01855799
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+v -0.00761696 -0.04761410 0.02158026
+v -0.01068750 -0.04618348 0.02171089
+v -0.01240199 -0.04568785 0.02077734
+v -0.01061386 -0.04675269 0.01876797
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+v -0.01458888 -0.02880826 0.02554435
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+
diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_52.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..052e11a483775304781cf9b214a2c6cf1c109d70
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_52.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00675538 -0.05180593 0.01343478
+v 0.00675538 -0.05180593 0.02602397
+v 0.00675538 -0.03716029 0.01343478
+v 0.00675538 -0.03716029 0.02602397
+v 0.00775538 -0.05180593 0.01343478
+v 0.00775538 -0.05180593 0.02602397
+v 0.00775538 -0.03716029 0.01343478
+v 0.00775538 -0.03716029 0.02602397
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_53.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7ba31fda33c6353fe0d603657ee46a46d23df63
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_53.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.03020890 0.03454657 0.02517447
+v -0.03196957 0.03447676 0.02610943
+v -0.03020890 0.03493567 0.02552533
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+
diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_54.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8405d1f1984519bc61e2f278f57de7c42a6ea4c5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_54.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.00216086 -0.04991303 0.01855626
+v -0.00486321 -0.04909297 0.01855626
+v -0.00216086 -0.04981351 0.01587176
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+v -0.00674999 -0.04843692 0.01855626
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+v -0.00637625 -0.04837425 0.01395170
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+v -0.00459506 -0.04873728 0.01008100
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+v -0.00749748 -0.04786378 0.01298270
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diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_6.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcd363e004f4343657dad759166e75bf03a68082
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_6.obj
@@ -0,0 +1,325 @@
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diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_7.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16b0f705d46a92f9e6f99fe83b26d96719b86bf8
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_7.obj
@@ -0,0 +1,328 @@
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diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_8.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3db0571bc41b82f5a1921b801781dc44a714d1f5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_8.obj
@@ -0,0 +1,541 @@
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diff --git a/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_9.obj b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65032b3b0558b78ac27f20b9d62f3f2f4ffe0b97
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mjcf/mesh/utensil_holder_collision_9.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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