diff --git a/.gitattributes b/.gitattributes
index dfc38d533bad9d8d10d4e0dbb3e4addbda619dfb..d1b8b1fb4e5f037b579ced0b3d5dd75d12a5a3d5 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4532,5 +4532,6 @@ dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mesh/pepper_g
 dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mesh/pepper_grinder_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/788ef35c14875a0899d7e201ab23fd00/mesh/spatula_025.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/788ef35c14875a0899d7e201ab23fd00/spatula_025.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mesh/spice_jar_028.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/spice_jar_028.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/780bff5eb6e8548b9798e07bfbe61736.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mesh/utensil_holder.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mesh/utensil_holder_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/780bff5eb6e8548b9798e07bfbe61736.urdf b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/780bff5eb6e8548b9798e07bfbe61736.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..70cf83602f88e4ca9d83987ebbf0329a04ca5884
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/780bff5eb6e8548b9798e07bfbe61736.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="0.5500" />
+         <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>0.251827</scale>
+         <version>v0.1.7</version>
+         <category>utensil holder</category>
+         <description>orange cylindrical holder with two black utensils inside</description>
+         <min_height>0.18</min_height>
+         <max_height>0.22</max_height>
+         <real_height>0.2</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.7</max_mass>
+         <generate_time>20260120023312</generate_time>
+         <gs_model>mesh/utensil_holder_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: overlapping duplicate spoons visible in the top view.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.178917407989502</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/780bff5eb6e8548b9798e07bfbe61736.usd b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/780bff5eb6e8548b9798e07bfbe61736.usd
new file mode 100644
index 0000000000000000000000000000000000000000..20af424f8e73db8b600ce88b6a3a94be6949315b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/780bff5eb6e8548b9798e07bfbe61736.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a143fbb8a60d645e494fa6645d6a785dbb42ac87f5fb27fb80c361b563adcc27
+size 507864
diff --git a/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mesh/material.mtl b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/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/780bff5eb6e8548b9798e07bfbe61736/mesh/material_0.png b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c27ee276f2abe8bb3317ae4042fb2a6d9444a8d4
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34ca840b6377905e10545a16a5c2dd8d57590fd7e20f48cf14c649372c84f430
+size 1114062
diff --git a/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mesh/utensil_holder.glb b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mesh/utensil_holder.glb
new file mode 100644
index 0000000000000000000000000000000000000000..75b04d872d6fe0c4f7649e7ccd5b6af6842d06b5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mesh/utensil_holder.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9854a32bcb5c79c81e91610492bb0d96dd4f5886f18505ed502bc37d26281b4
+size 1458120
diff --git a/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mesh/utensil_holder.obj b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mesh/utensil_holder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31e19438c2532eaf24440da6e0d7b0a0db684b8e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mesh/utensil_holder.obj
@@ -0,0 +1,31354 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mesh/utensil_holder_collision.obj b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mesh/utensil_holder_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41e56f857b17b723aab1bc55d69ec39644f89236
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mesh/utensil_holder_collision.obj
@@ -0,0 +1,10987 @@
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+    </body>
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diff --git a/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/material_0.png
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
+oid sha256:34ca840b6377905e10545a16a5c2dd8d57590fd7e20f48cf14c649372c84f430
+size 1114062
diff --git a/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder.obj b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36cc7ea0f32c25f8df8afd39d706f1d1a280cc37
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder.obj
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diff --git a/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision.obj b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6654df50b4c4dc11e0b188559a38f67b4d7741aa
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision.obj
@@ -0,0 +1,10987 @@
+# https://github.com/mikedh/trimesh
+
+o utensil_holder_collision.obj
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diff --git a/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_0.obj b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22e11b0c54d6507a4ebef879cfc83b197c5e4601
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_0.obj
@@ -0,0 +1,592 @@
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diff --git a/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_1.obj b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..625b02e274437db907711a4e382fe4c45b3ec71c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_1.obj
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diff --git a/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_10.obj b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4778dc154456ccfdcdebd12eb8fe39e7b3cc21fa
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_10.obj
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diff --git a/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_11.obj b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73fbe7f8bc09b3ae15c159760d1200acc70bbb66
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_11.obj
@@ -0,0 +1,142 @@
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diff --git a/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_12.obj b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fc5f668d13eb274e73b694f290a1521698f0f5f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_12.obj
@@ -0,0 +1,628 @@
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+
diff --git a/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_13.obj b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..205628da25f16cc2a5026254012ea572134e0fda
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_13.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.06621726 -0.01835090 0.01729398
+v -0.06621726 -0.02092578 0.01769383
+v -0.07056359 -0.02449976 0.02399972
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+
diff --git a/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_14.obj b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ac390144b8cc3b56a8cf8a31284c17425bbb193
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_14.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.08977634 -0.01835220 0.04513302
+v -0.08977634 -0.02241568 0.04559814
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+
diff --git a/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_15.obj b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b4fd465ae14dac56d4dce3482644ded4026dffe
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_15.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_16.obj b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..157e3d719038c0143f8e1a86361ecf4a753f255f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_16.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_17.obj b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6017872b8948b8e9278a056e9e1d2a0f9f6e274
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_17.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_18.obj b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..865c5fc2012ad28746acc2eab96b7bd5bcb11bc8
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_18.obj
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diff --git a/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_19.obj b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..879e208d871a61b82a83ce8872ff8db976f11423
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_19.obj
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diff --git a/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_2.obj b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2203b1d97a0d35241340c843c25eb45208ce3d8
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_2.obj
@@ -0,0 +1,490 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_20.obj b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f6b8e63f0ca927356a43d612b1ef31f3e583adf
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_20.obj
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diff --git a/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_21.obj b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..828549bceb4063be4badab143f138abb13b99432
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_21.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_22.obj b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81ebfbc947c00283209cd9d8011fd7d6beb8de08
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_22.obj
@@ -0,0 +1,529 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_23.obj b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b597ecf7dd2426812d389360b32760da09423f08
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_23.obj
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diff --git a/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_24.obj b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..195a8a0901cad186be199666b0d10e51d2f16607
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_24.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_25.obj b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..894b7b81e85957e6057b15bbb028b53e17885257
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_25.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_26.obj b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e0082908db6f7f6647cd85943eb0cee68b4b5cc
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_26.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_27.obj b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9654c29e17ddc96fd350ea496eaacf5d859e4416
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_27.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_28.obj b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e53a3fe03606e77b3440fcd578c4a0481ce6a3ab
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_28.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_3.obj b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47cccdf711aaa77e8d1413794a9422ad30aa7a91
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_3.obj
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diff --git a/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_4.obj b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a8e4ce71ff97f0bff456becf20d66931f4c1b18
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_4.obj
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diff --git a/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_5.obj b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51421360c1266aa3740f72385d48239b17201255
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_5.obj
@@ -0,0 +1,724 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_6.obj b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fef36bc70e183a0f477bee40092af7b91265412
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_6.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.06621726 0.01822846 0.01745653
+v -0.07282664 0.01822842 0.02663277
+v -0.07282664 0.02245578 0.02685908
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+v -0.06621726 0.02229195 0.01829241
+v -0.06621726 0.01563962 0.01768078
+v -0.06621726 0.01416495 0.01788464
+v -0.07282664 0.01417501 0.02724437
+v -0.07282664 0.02374389 0.02771127
+v -0.07156506 0.02500681 0.02687540
+v -0.06621726 0.02557149 0.01987854
+v -0.06621726 0.01218866 0.01856149
+v -0.07037724 0.01284152 0.02424950
+v -0.07135157 0.01156852 0.02701398
+v -0.07282664 0.01117779 0.03034116
+v -0.07282664 0.02551347 0.03011084
+v -0.06621726 0.02683439 0.02270421
+v -0.06621726 0.01113245 0.01898146
+v -0.06621790 0.00195929 0.02945022
+v -0.07282664 0.01116264 0.03468973
+v -0.06626837 0.00195929 0.03028609
+v -0.07282664 0.02551852 0.03012511
+v -0.06621726 0.02765615 0.02610274
+v -0.06621726 0.00197189 0.02944614
+v -0.06621726 0.00195929 0.02957050
+v -0.07282664 0.01131893 0.03584976
+v -0.06621726 0.00195929 0.03036764
+v -0.07282664 0.02557395 0.03511180
+v -0.06621726 0.02770909 0.02660222
+v -0.07282664 0.01416488 0.03808420
+v -0.06621726 0.00676137 0.03254295
+v -0.06621726 0.02763345 0.03028618
+v -0.07282664 0.02539498 0.03577642
+v -0.07282664 0.01822838 0.03828401
+v -0.06621726 0.01011149 0.03357660
+v -0.06621726 0.01416489 0.03451034
+v -0.06621726 0.02760824 0.03034122
+v -0.07282664 0.02431607 0.03720352
+v -0.06621726 0.02585881 0.03325045
+v -0.06621726 0.01822839 0.03452871
+v -0.07282664 0.02207762 0.03810054
+v -0.07282664 0.02229188 0.03808015
+v -0.06621726 0.02462615 0.03376013
+v -0.06621726 0.02040383 0.03435134
+v -0.06621726 0.02229189 0.03408835
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 17
+f 1 17 23
+f 1 23 29
+f 1 29 32
+f 1 32 37
+f 1 37 39
+f 1 39 43
+f 1 43 45
+f 1 45 44
+f 1 44 40
+f 1 40 36
+f 1 36 35
+f 1 35 31
+f 1 31 27
+f 1 27 25
+f 1 25 24
+f 1 24 18
+f 1 18 12
+f 1 12 7
+f 1 7 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 15
+f 2 15 20
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+f 2 26 30
+f 2 30 34
+f 2 34 41
+f 2 41 42
+f 2 42 38
+f 2 38 33
+f 2 33 28
+f 2 28 22
+f 2 22 16
+f 2 16 9
+f 2 9 3
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 7 12 8
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+f 8 13 14
+f 8 14 15
+f 9 16 10
+f 10 16 17
+f 10 17 11
+f 12 18 13
+f 13 18 14
+f 14 18 19
+f 14 19 15
+f 15 19 21
+f 15 21 20
+f 16 22 17
+f 17 22 23
+f 18 24 19
+f 19 24 25
+f 19 25 27
+f 19 27 21
+f 20 21 26
+f 21 27 26
+f 22 28 29
+f 22 29 23
+f 26 27 30
+f 27 31 30
+f 28 32 29
+f 28 33 32
+f 30 31 35
+f 30 35 36
+f 30 36 34
+f 32 33 37
+f 33 38 39
+f 33 39 37
+f 34 40 41
+f 34 36 40
+f 38 42 39
+f 39 42 43
+f 40 44 41
+f 41 44 42
+f 42 44 45
+f 42 45 43
+
diff --git a/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_7.obj b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7d079c872fc4eb1fe8b4c50759fdf6e76d135b8
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_7.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v -0.04125175 -0.00003822 -0.10171813
+v -0.04125175 -0.00003825 -0.09205856
+v -0.04033987 -0.00003822 -0.10172439
+v -0.04125175 -0.00026299 -0.10171813
+v -0.04125175 -0.01397870 -0.09126843
+v 0.09373264 -0.00003825 -0.09261283
+v -0.03938834 -0.00003822 -0.10173065
+v -0.04125175 -0.00209457 -0.10171710
+v -0.04125175 -0.02277382 -0.09125176
+v 0.09373264 -0.02277382 -0.09216302
+v 0.09373264 -0.00003822 -0.10188409
+v -0.04125175 -0.01834952 -0.10170358
+v -0.03523864 -0.00003822 -0.10174213
+v -0.03938834 -0.01834952 -0.10171402
+v -0.04125175 -0.02277379 -0.10169211
+v 0.09373264 -0.02277379 -0.10186539
+v 0.09373264 -0.00246400 -0.10188620
+v 0.09336260 -0.00209457 -0.10188723
+v 0.09336260 -0.00003822 -0.10188514
+v -0.04125175 -0.02058391 -0.10170047
+v 0.00624521 -0.00003822 -0.10184443
+v 0.01039491 -0.01428579 -0.10184761
+v -0.03938834 -0.02241549 -0.10170777
+v 0.01039491 -0.01834952 -0.10184242
+v -0.01449011 -0.02241549 -0.10177249
+v -0.03938834 -0.02277379 -0.10170568
+v 0.09373264 -0.02241549 -0.10187582
+v 0.09336260 -0.02277379 -0.10187687
+v 0.09373264 -0.00615831 -0.10188934
+v 0.09336260 -0.01428579 -0.10189667
+v 0.08921290 -0.00003822 -0.10189558
+v 0.00829363 -0.00003822 -0.10184861
+v 0.01454462 -0.01428579 -0.10185596
+v -0.03488182 -0.02277379 -0.10171821
+v -0.03901831 -0.02277379 -0.10170672
+v -0.01413329 -0.02277379 -0.10177249
+v 0.01454462 -0.01834952 -0.10185077
+v 0.01039491 -0.02241549 -0.10183198
+v 0.09373264 -0.01834952 -0.10189356
+v 0.09336260 -0.02241549 -0.10188000
+v 0.08921290 -0.02277379 -0.10190192
+v 0.09373264 -0.01022427 -0.10189249
+v 0.09373264 -0.01428579 -0.10189459
+v 0.09336260 -0.01834952 -0.10189669
+v 0.08506319 -0.02241549 -0.10191445
+v 0.08711161 -0.00003822 -0.10189975
+v 0.01244333 -0.00003822 -0.10185696
+v 0.01659304 -0.00003822 -0.10186426
+v 0.02902894 -0.00003822 -0.10188306
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+v 0.02698052 -0.01834952 -0.10187060
+v 0.01869432 -0.01834952 -0.10185807
+v 0.01039491 -0.02277379 -0.10183094
+v 0.01454462 -0.02241549 -0.10184033
+v 0.08921290 -0.02241549 -0.10190401
+v 0.08506319 -0.02277379 -0.10191340
+v 0.08506319 -0.00003822 -0.10190289
+v 0.08091348 -0.02241549 -0.10191445
+v 0.06846436 -0.00003822 -0.10191437
+v 0.07261407 -0.00003822 -0.10191332
+v 0.07676378 -0.00003822 -0.10191124
+v 0.08091348 -0.00003822 -0.10190810
+v 0.08296190 -0.00003822 -0.10190602
+v 0.03317865 -0.00003822 -0.10188932
+v 0.03527993 -0.00003822 -0.10189245
+v 0.03527993 -0.00209457 -0.10189141
+v 0.02698052 -0.01428579 -0.10187371
+v 0.03113023 -0.01834952 -0.10187686
+v 0.01454462 -0.02277379 -0.10183929
+v 0.01869432 -0.02241549 -0.10184660
+v 0.08091348 -0.02277379 -0.10191340
+v 0.06431466 -0.01428579 -0.10191024
+v 0.07261407 -0.01428579 -0.10191442
+v 0.04772905 -0.01834952 -0.10189356
+v 0.05601525 -0.01834952 -0.10190087
+v 0.05601525 -0.01428579 -0.10190502
+v 0.06846436 -0.00209457 -0.10191438
+v 0.06016495 -0.00003822 -0.10191228
+v 0.04562777 -0.00003822 -0.10190393
+v 0.03942964 -0.01022427 -0.10189144
+v 0.04772905 -0.00615831 -0.10190291
+v 0.04357934 -0.01428579 -0.10189354
+v 0.03113023 -0.02241549 -0.10186121
+v 0.02284403 -0.02241549 -0.10185182
+v 0.01869432 -0.02277379 -0.10184451
+v 0.05601525 -0.01022427 -0.10190710
+v 0.05187876 -0.00003822 -0.10190915
+v 0.06431466 -0.00209457 -0.10191333
+v 0.05187876 -0.01428579 -0.10190189
+v 0.04772905 -0.00003822 -0.10190602
+v 0.04772905 -0.00209457 -0.10190498
+v 0.05187876 -0.00209457 -0.10190811
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+
diff --git a/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_8.obj b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e890dbcae4cadb3cf7adc77abd3c5141547d0544
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_8.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.03991960 -0.05416672 0.03028244
+v -0.03991960 -0.05342830 0.03294355
+v -0.04126483 -0.05337204 0.03288493
+v -0.04126483 -0.05406357 0.03028244
+v -0.04126483 -0.05406591 0.02841849
+v -0.03991960 -0.05416672 0.02975491
+v -0.03991960 -0.05086840 0.03392828
+v -0.04126483 -0.05086840 0.03389311
+v -0.04126483 -0.05405653 0.02613252
+v -0.03991960 -0.05415265 0.02613252
+v -0.03991960 -0.05416438 0.02912187
+v -0.03991960 -0.04763337 0.03333043
+v -0.04126483 -0.04753257 0.03335388
+v -0.04126483 -0.04882167 -0.02594072
+v -0.03991960 -0.04911705 -0.02420572
+v -0.03991960 -0.04606976 0.03023558
+v -0.04126483 -0.04584472 0.03013007
+v -0.04126483 -0.04485512 -0.05951517
+v -0.03991960 -0.04534976 -0.05739333
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+v -0.03991960 -0.04553761 0.02656630
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+v -0.03991960 -0.04173485 -0.08583314
+v -0.04077533 -0.04464413 -0.06204733
+v -0.03991960 -0.04489027 -0.06126189
+v -0.03991960 -0.04443345 0.01807891
+v -0.04126483 -0.03022236 -0.08583310
+v -0.03991960 -0.03153512 -0.08583311
+v -0.03991960 -0.04454566 -0.06406367
+f 1 2 3
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+f 1 4 5
+f 1 5 6
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+f 21 27 28
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+f 24 30 25
+f 25 30 26
+f 27 29 28
+
diff --git a/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_9.obj b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5419525f48a7b8236ab0b09308c5f4a913407afe
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/mjcf/mesh/utensil_holder_collision_9.obj
@@ -0,0 +1,574 @@
+# https://github.com/mikedh/trimesh
+v 0.09950174 -0.02343027 -0.08259233
+v 0.10580165 -0.00003829 -0.08259224
+v 0.10964745 -0.02343027 -0.08259233
+v 0.10008605 -0.02343029 -0.07744763
+v 0.11795790 -0.00003869 0.02613976
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+v 0.10655327 -0.00003831 -0.07549032
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+v 0.11502308 -0.02343068 0.02959556
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+v 0.12240926 -0.00003871 0.03165353
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+v 0.12028716 -0.00758545 -0.03360583
+v 0.11632981 -0.00902329 -0.06409374
+v 0.11374292 -0.01022305 -0.08169755
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