diff --git a/.gitattributes b/.gitattributes
index 237fd2a7aa045edee2d3ae23b26adaba1b34f765..3d2e8bb1c23a4136e46aef949625d0afac3cb7c2 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4360,3 +4360,6 @@ dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/c640b09ab974
 dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mesh/wooden_spoon.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mesh/wooden_spoon_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/c9bccd426acd50da8e1aeafc0ecccec6/c9bccd426acd50da8e1aeafc0ecccec6.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/c9e7644a45e95dfe882ba05803fa7d81.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mesh/metal_colander.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mesh/metal_colander_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/c9e7644a45e95dfe882ba05803fa7d81.urdf b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/c9e7644a45e95dfe882ba05803fa7d81.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0d700eba6aed35d6a770b8b566308991bf35d77d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/c9e7644a45e95dfe882ba05803fa7d81.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="metal_colander">
+   <link name="metal_colander">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/metal_colander.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/metal_colander_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.317457</scale>
+         <version>v0.1.7</version>
+         <category>metal colander</category>
+         <description>perforated metal bowl with handles for draining liquids</description>
+         <min_height>0.114</min_height>
+         <max_height>0.151</max_height>
+         <real_height>0.132</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <generate_time>20260119185308</generate_time>
+         <gs_model>mesh/metal_colander_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.822913646697998</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/c9e7644a45e95dfe882ba05803fa7d81.usd b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/c9e7644a45e95dfe882ba05803fa7d81.usd
new file mode 100644
index 0000000000000000000000000000000000000000..785d670fce79b2f063ac4f8caf75d5acfb513eec
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/c9e7644a45e95dfe882ba05803fa7d81.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1df31fd14750687dc0d13b701f4685d9c574effcf701b7d173b348a319cb6cd
+size 522730
diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mesh/material.mtl b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mesh/material_0.png b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ed87c175787db91ebbc5bc45dbaf7030941e285
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cd664e51743ed378c287c502d4088ddfee73888bd0b92950fd02df11705cf55
+size 2915419
diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mesh/metal_colander.glb b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mesh/metal_colander.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b2cd0f8074f8a30a65fae45a587121890512a6ed
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mesh/metal_colander.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5430c38275d027d598eefa25c3b233946cbf1bbfcc818d38c253e1ee921d2e49
+size 3318148
diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mesh/metal_colander.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mesh/metal_colander.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7adc89bf340a9fb7ed2c65b48a6ff75192048a2b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mesh/metal_colander.obj
@@ -0,0 +1,37440 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mesh/metal_colander_collision.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mesh/metal_colander_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ddc7bd840a225439c6d2e5172c45f8bf75235b0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mesh/metal_colander_collision.obj
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+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander.obj
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diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a1b39ccd586270b3fad1758196d17f5f291c6a3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_0.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e616a82cc71bd54b18b8ccbb43e6853a0565371
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_0.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_1.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fafbed7214d5edd5721dadbbd23e916942e15b3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_1.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_10.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7205988ef8d3f663eca9343a6910b09e4323ebdf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_10.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_11.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf7fa9a726ad5c486cab0a44c2cd1e1dec94a940
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_11.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_12.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..307817626d24af0de5623dee4421826277b8fc1f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_12.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_13.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0bf461353bdfae9940c52b31d00922b1575870c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_13.obj
@@ -0,0 +1,439 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_14.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee927e509dd58452aa202e3ba3914a486e89ac08
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_14.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_15.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06bcf9a3e9f774b9d5759ec13ba7007e20da1546
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_15.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_16.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47eb0689363f8d79ad0518a77852e35b0275240f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_16.obj
@@ -0,0 +1,337 @@
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diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_17.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05afa85b962c02c5e0aec10ed60478257266652f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_17.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_18.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e588d3df150c660ab9e9fe6d97307dd9e4ae0f45
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_18.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_19.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1f09f106333d61460483b935cfd4ee07e568293
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_19.obj
@@ -0,0 +1,397 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_2.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17a3c6269a1f10c39eec75c2570da78f4608c10e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_2.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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+v 0.05993166 -0.03812143 0.01525046
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+
diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_20.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f695f3a2cabc64c121d556fa622652625d26668
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_20.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.02185332 0.07213050 0.01525086
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+v -0.02185332 0.09233629 0.06332860
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+
diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_21.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16f3aa5f2bc807019c60ff3e1539636e20266f93
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_21.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v 0.07613028 0.03726556 0.05674591
+v 0.07572210 0.03726555 0.05913631
+v 0.07531715 0.03726557 0.05439733
+v 0.07525884 0.03775491 0.05441708
+v 0.07493165 0.04015929 0.05465882
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+v 0.07552771 0.03775489 0.05947100
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+
diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_22.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ca401eea9082122481a58edc5dc59c62196bf9a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_22.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.01784128 0.10701787 0.06532661
+v 0.01391342 0.10701787 0.06517141
+v 0.01784128 0.10519577 0.06522251
+v 0.02164974 0.09775773 0.06317149
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+v -0.00044734 0.10087075 0.06064905
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+
diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_23.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f38342d60baebb86c50627bd40b34cea4a22fb0e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_23.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.00044762 0.11495939 0.06657217
+v -0.00044762 0.11552024 0.06657217
+v -0.00044762 0.11297759 0.06528343
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+v 0.01224374 0.11494328 0.06653654
+v 0.00606128 0.11736384 0.06601394
+v 0.00606128 0.11991589 0.06406202
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+v 0.00998938 0.11969719 0.06373341
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+
diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_24.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7818efe431305981d7fd0080c4822ab61697cf4c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_24.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.04467442 -0.07338733 0.05265707
+v -0.04467442 -0.06505829 0.05265710
+v -0.04490710 -0.07321958 0.05265707
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diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_25.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a808b64919b09c14deb97e98e5d27ad0d8772f2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_25.obj
@@ -0,0 +1,334 @@
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diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_26.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0f4767f68dbfe81e99f7133f026fcbe57df0e53
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_26.obj
@@ -0,0 +1,505 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_27.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3887e4b2127e8dc9c46fbc6d7ecfea7f856c63c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_27.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_28.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33e822ce8acf0e4141d1820a13c3adfe95177348
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_28.obj
@@ -0,0 +1,190 @@
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+
diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_29.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4306e494a1ab735c55ba58f0e798a4ec37ce280
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_29.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.01914636 -0.08923645 0.05144449
+v -0.01914636 -0.08222870 0.05144452
+v -0.02907421 -0.08370365 0.05144451
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+
diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_3.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a406543554f772f46a0939dd32d9281df6c6eda
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_3.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_30.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cc9ff4c6b5b4282ff1baff6402ac63efdf60ff6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_30.obj
@@ -0,0 +1,451 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_31.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86a44c089c95618bba0dcd99d1dacf517f876296
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_31.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.02682265 -0.05313763 -0.06018781
+v 0.02753848 -0.05313763 -0.05948630
+v 0.02926169 -0.05313762 -0.06370879
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+v 0.03011358 -0.05313764 -0.05810058
+v 0.02930381 -0.05313762 -0.06371007
+v 0.02569542 -0.05746103 -0.06380290
+v 0.00606319 -0.06539292 -0.06339073
+v 0.00181348 -0.06790670 -0.06301758
+v 0.00181348 -0.06815685 -0.05772107
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+v 0.03354056 -0.05313762 -0.06365823
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+v 0.02944632 -0.05741933 -0.06335294
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+v 0.01784383 -0.06448965 -0.06312637
+v 0.00998898 -0.06539292 -0.06336641
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+v 0.00213414 -0.06891188 -0.06036773
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+
diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_32.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6633f1c63b5d2559c8a87bda32e446e355eef1c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_32.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.01914636 -0.09032911 0.06343461
+v -0.01870824 -0.09032911 0.06334027
+v -0.01914636 -0.09023157 0.06340157
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+
diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_33.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2be92a1c39f6fb8a1fafd4a7eaf9b7278680be08
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_33.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.05423737 0.03726571 0.01525074
+v 0.06138616 0.03726558 0.05041634
+v 0.05939248 0.03726571 0.01525074
+v 0.06217748 0.00047080 0.01525060
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+v 0.06953370 0.01791734 0.03332227
+v 0.07294102 0.01561939 0.05041626
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+
diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_34.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47731e5b7e0f7f98ef818cf265f8a35c4adc74cc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_34.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_35.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c04f7570f88525f296f134a3f61b42a4d2d5384f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_35.obj
@@ -0,0 +1,529 @@
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diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_36.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63849e2a43a4836a542f0afa002cc0ef4b399703
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_36.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_37.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d7b426914988fcebd7a7ca18df3464dc191e9d8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_37.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_38.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77d169cf643bfaea392b78aa36421661c3ab548c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_38.obj
@@ -0,0 +1,502 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_39.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ad146fb2e2a13399bcafe82d9456d46b263718a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_39.obj
@@ -0,0 +1,328 @@
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diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_4.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24c2477ef9ef7bac12448d6bcb9c8159d01dd953
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_4.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_40.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8fc54f78ded180f4d29c05f5727dfa464422d72
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_40.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_41.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f385b219089f37c4b66b0d314551238d5313d97
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_41.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_42.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..752bb2eab6074b5726eab67308b8455ead226b68
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_42.obj
@@ -0,0 +1,154 @@
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diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_43.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24616f060a0ffd147a157525e18d3249cf2560df
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_43.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_44.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..728793898a4b21a8de35e60d4bfe7d65e899df2c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_44.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_45.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b95a3cdb8155b226fafe93d9dfd878577ae0c241
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_45.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_46.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a51c091dc98814bae8e4738166c8aa6782f8c10e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_46.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_47.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2728e611fefe1baf48bf8b76ea81bc1f0ffe6caa
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_47.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_48.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fba53ed2875e1cafc97eb0c1e9160a13fdb5a54d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_48.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.00119472 -0.08316751 0.01524769
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diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_49.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93e0df18a0e491fd5ba5e00d4ebbd5d428964053
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_49.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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+v -0.01781412 -0.09032905 0.04503506
+v -0.01775918 -0.10284326 0.04893888
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+
diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_5.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c97d91d9eeefcf7976f2ace84150e5807621b8c6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_5.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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+v -0.04178875 -0.04595264 -0.06036703
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+
diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_50.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e04cbe85534137ff35ee1e20d09eff07b08f94ff
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_50.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.04303866 0.06647680 0.05139418
+v 0.04303866 0.07423629 0.05139421
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diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_51.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38baa42b1e1528baeef139e8d7750eb8ad66674f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_51.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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+v 0.06706102 -0.00192037 0.01525059
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+
diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_52.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6b5b215bbf737770ea92e9f15027bad83f8c1fc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_52.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.04303866 0.05522580 0.01525080
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+
diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_53.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afc029f34dc370432cd7799b5c23efa4c120277d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_53.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_54.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5681536d8b7948aa07119f2ab65e2fbe03b7b6c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_54.obj
@@ -0,0 +1,466 @@
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diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_55.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ff98f7437f6e6efe06707ffe5d24dbf1130064d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_55.obj
@@ -0,0 +1,250 @@
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diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_56.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7fdb50e259c70ce8d79c4505d30976bfd1ce1c5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_56.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_57.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04c8ce2540d37b56eed9764d4c1ec5d9968bf604
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_57.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_58.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6b2d7400d225e025894f83a70d2a452c2c4e6fb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_58.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_59.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b72bd5b1ed83136ea14ee7f6dc140ff5a21e425c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_59.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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+v -0.05605279 0.04452596 0.01525076
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+v -0.03182725 0.07069671 0.01168604
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+v -0.04363174 0.04452607 -0.01233289
+v -0.04366021 0.04452607 -0.01229487
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+
diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_6.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34e9dd648809bee165a3410ef797f7f03bea8eb3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_6.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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+v -0.03642494 0.04573402 -0.06011601
+v -0.03642494 0.04576142 -0.06007271
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+v -0.05032500 -0.00348406 -0.05892384
+v -0.05019816 -0.00348406 -0.06036759
+v -0.03642494 0.04615057 -0.06352184
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+
diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_60.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cae4ace62eaf4f9064a4a267180b5626fe176db5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_60.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.00511520 -0.09713250 0.06471138
+v -0.00511520 -0.09426169 0.06369713
+v -0.00511520 -0.10096164 0.06368089
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+v 0.00213275 -0.10096164 0.06360204
+v 0.00605994 -0.09713250 0.06438300
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+v 0.00976417 -0.09426169 0.06348002
+v -0.00511520 -0.09426166 0.05422316
+v -0.00511520 -0.10283932 0.06065324
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+v 0.01007039 -0.09426514 0.05367985
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+v -0.00511520 -0.09713246 0.05548260
+v -0.00511520 -0.10105625 0.05735771
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+v 0.01007039 -0.10073073 0.05730047
+v 0.00578941 -0.10141304 0.05757268
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+f 35 38 36
+
diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_61.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93f79a915a008a86feb973bdbf529b6dc0c36ef6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_61.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v 0.00036788 0.08191265 0.01525090
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+v 0.00036788 0.07777031 0.01525089
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+
diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_62.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..649823aacc2bcd8c741c8766d4a2063eb60322a8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_62.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.02330150 -0.09425751 0.06336473
+v 0.02459830 -0.09425751 0.06323714
+v 0.03340882 -0.08918785 0.06315683
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+v 0.02870704 -0.09425749 0.05757607
+v 0.02330150 -0.07938698 0.01945596
+v 0.02768478 -0.09425751 0.06226369
+v 0.03879614 -0.08415138 0.06325607
+v 0.03879614 -0.08499465 0.06313321
+v 0.03879614 -0.08123970 0.06320885
+v 0.02867974 -0.09425750 0.06121937
+v 0.03286583 -0.09197001 0.06064761
+v 0.03482996 -0.09066194 0.06064762
+v 0.03879614 -0.08720910 0.06192821
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+v 0.03879614 -0.08010757 0.06309073
+v 0.02330150 -0.08981201 0.06314265
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+v 0.02921969 -0.09425750 0.06024121
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+v 0.02921969 -0.09425750 0.06047748
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+
diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_63.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c96cad1c6396ac4d11609793c9229de051462c29
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_63.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.01765982 0.09775771 0.06355048
+v 0.01761522 0.09693222 0.06331678
+v 0.02177052 0.09480221 0.06277069
+v 0.02353356 0.09493285 0.06268047
+v 0.02182685 0.09696440 0.06308076
+v 0.02165078 0.09775771 0.06317100
+v -0.00044734 0.09775771 0.06287252
+v 0.01877496 0.09496125 0.06276607
+v -0.00044734 0.09598554 0.06237041
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+v -0.00044734 0.09775774 0.05531095
+v -0.00044734 0.09329320 0.06055406
+v 0.02353356 0.08611174 0.05918888
+v 0.02353356 0.09767442 0.06000802
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+v -0.00044734 0.08965238 0.03991247
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+v -0.00044734 0.09110262 0.05883257
+v 0.02353356 0.08415025 0.05774736
+v 0.02353356 0.09766686 0.05982060
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+v 0.02353356 0.09693603 0.05674090
+v -0.00044734 0.08427149 0.03991245
+v 0.01391539 0.09775777 0.04525742
+v 0.01165932 0.09162334 0.03991248
+v -0.00044734 0.08979811 0.05769417
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+v -0.00044734 0.08911839 0.05709719
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+v -0.00044734 0.08712659 0.05514663
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+v 0.02353356 0.08034085 0.05051204
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+
diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_64.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f0f44a3464585fdab86e4dd3130839bd4ebd5bf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_64.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
+v -0.04431451 -0.03193542 -0.02096442
+v -0.04260079 -0.03193542 -0.02285893
+v -0.04349908 -0.03365760 -0.02096442
+v -0.03722417 -0.03193542 -0.02096442
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+v -0.03547994 -0.03607794 -0.02742653
+v -0.03623431 -0.04530560 -0.02096447
+v -0.02249407 -0.04998340 -0.02096448
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diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_65.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f02f90b52b2e127cc12408d1ef3833712afd16b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_65.obj
@@ -0,0 +1,253 @@
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diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_66.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8bf89f13bbbefe4a593f46e17cfda4ab226570b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_66.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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+f 14 18 20
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+f 16 21 23
+f 16 23 22
+f 18 24 20
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+f 20 26 25
+f 22 23 26
+f 23 25 26
+
diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_67.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a979e7f2e46efc964e082dcd215abd24e15bb21
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_67.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.02185432 0.09514817 0.06406373
+v -0.01952140 0.09514818 0.06378509
+v -0.01750567 0.10122767 0.06503357
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+v -0.02185432 0.10063359 0.05769629
+v -0.02067418 0.09514824 0.04509089
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+v -0.01504262 0.10519526 0.04647545
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+v -0.02003765 0.10684248 0.04645601
+v -0.01802958 0.09514825 0.04393533
+v -0.01750567 0.09514825 0.04374310
+v -0.01515419 0.10684248 0.04660072
+v -0.01846708 0.10684248 0.04615793
+v -0.01750567 0.10684248 0.04606939
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+
diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_68.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05fc2eff5677d79453b3d1c2ad1117636ef66ebd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_68.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.02411652 -0.06441529 -0.01122888
+v 0.02192092 -0.06546085 -0.01122888
+v 0.02411652 -0.06389130 -0.01224047
+v 0.02411652 -0.05841604 -0.01122885
+v 0.01222422 -0.06355163 -0.01954336
+v 0.01335826 -0.06860239 -0.01122889
+v 0.01301221 -0.06796680 -0.01249683
+v 0.02071673 -0.05980361 -0.01987593
+v 0.02333555 -0.05924080 -0.01914148
+v 0.02411652 -0.05954889 -0.01824075
+v 0.02411652 -0.04507352 -0.02398325
+v 0.00022902 -0.06559912 -0.01122888
+v 0.00998886 -0.06713712 -0.01516997
+v 0.00998886 -0.06550450 -0.01742732
+v 0.00998886 -0.06376026 -0.01980664
+v 0.00998886 -0.06201360 -0.02175916
+v 0.01280176 -0.05969443 -0.02351768
+v 0.01542060 -0.05928932 -0.02309780
+v 0.00998886 -0.06958730 -0.01122890
+v 0.00998886 -0.06839375 -0.01321743
+v 0.01784302 -0.05871680 -0.02254211
+v 0.02411652 -0.05901520 -0.01888374
+v 0.02207290 -0.05761301 -0.02150693
+v 0.02342909 -0.05532296 -0.02313658
+v 0.02411652 -0.05570140 -0.02234394
+v 0.02411652 -0.04507352 -0.02538423
+v 0.02097394 -0.04507352 -0.02538423
+v 0.00022902 -0.05131294 -0.02538425
+v 0.00022902 -0.06985659 -0.01122890
+v 0.00085333 -0.06764172 -0.01588224
+v 0.00213468 -0.06433518 -0.02051894
+v 0.00606061 -0.06404893 -0.02020714
+v 0.00606061 -0.06241144 -0.02215965
+v 0.00998886 -0.06002920 -0.02380869
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+v 0.01098494 -0.05786287 -0.02538427
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+v 0.01403168 -0.05776341 -0.02476485
+v 0.01784302 -0.05673482 -0.02432833
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+v 0.00213468 -0.06065995 -0.02430894
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+v 0.00022902 -0.06061869 -0.02427568
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+
diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_7.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef01142a8ea2f19d218a802e1d35e5c8db30d6a3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_7.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.00179851 0.06871506 -0.06036730
+v -0.00572492 0.06846991 -0.06403446
+v -0.00965131 0.06818872 -0.06068296
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+v -0.00487900 0.06758589 -0.05836427
+v -0.00179851 0.06762639 -0.05833843
+v 0.00181348 0.06761965 -0.05833909
+v 0.00181348 0.06869258 -0.06036730
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+v -0.01262698 0.06784008 -0.06141949
+v -0.01979108 0.06366760 -0.05833459
+v -0.01750410 0.06391502 -0.05824874
+v 0.00181348 0.06713829 -0.05833909
+v 0.00181348 0.06857788 -0.06411450
+v 0.00181348 0.06577298 -0.06453281
+v 0.00181348 0.06552330 -0.06456186
+v -0.03642494 0.04615223 -0.06352201
+v -0.03642494 0.04982760 -0.06384283
+v -0.02143051 0.06155554 -0.06450636
+v -0.01262698 0.06784008 -0.06301068
+v -0.02506495 0.06153301 -0.06371754
+v -0.02143051 0.06415572 -0.06331343
+v -0.02356027 0.06363388 -0.06198498
+v -0.02123213 0.06410846 -0.06055774
+v -0.02745298 0.05966383 -0.05835463
+v -0.02536064 0.06004172 -0.05824810
+v -0.01750410 0.06288483 -0.05824874
+v 0.00181348 0.06515440 -0.05961979
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+v -0.03615918 0.05271572 -0.06036736
+v -0.03642494 0.05242556 -0.06036736
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+
diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_8.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a35222202ce75289b75e8131a556fcbda01e6eb5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_8.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.07218433 -0.03811782 0.06226334
+v 0.07491040 -0.03224740 0.06265784
+v 0.07210945 -0.03811782 0.06226334
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+v 0.07474678 -0.02745736 0.06262074
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diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_9.obj b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/mjcf/mesh/metal_colander_collision_9.obj
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index 0000000000000000000000000000000000000000..94c7f2b6b72607b5eed013d7ad3903ec372c3529
--- /dev/null
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diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/textures/material_0.png b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/textures/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/video.mp4 b/dataset/kitchen_supplies/tableware/c9e7644a45e95dfe882ba05803fa7d81/video.mp4
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