diff --git a/.gitattributes b/.gitattributes
index 941061ce8a2d200e2c7298fd0c862885484d4772..7cc0ba08f0ac3817970bc5789e17f47b775a9ba0 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4306,3 +4306,6 @@ dataset/kitchen_supplies/tableware/a9ae80d1bd1e5f838320ff0ecb02fc90/mesh/spoon_0
 dataset/kitchen_supplies/tableware/a9ae80d1bd1e5f838320ff0ecb02fc90/spoon_023.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/ac5f7e5a5ae654a5ae388a178f98ab09/fork_014.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/ac5f7e5a5ae654a5ae388a178f98ab09/mesh/fork_014.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/ace98d09c98152d8b22cdd8feff6b85d.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mesh/metal_colander.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mesh/metal_colander_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/ace98d09c98152d8b22cdd8feff6b85d.urdf b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/ace98d09c98152d8b22cdd8feff6b85d.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2c661f8eafec51c09e5e8bcd7f3613bfc0a1d83f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/ace98d09c98152d8b22cdd8feff6b85d.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>0.247412</scale>
+         <version>v0.1.7</version>
+         <category>metal colander</category>
+         <description>perforated metal bowl with textured surface and flared base</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>20260119190422</generate_time>
+         <gs_model>mesh/metal_colander_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.162067890167236</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>5</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/ace98d09c98152d8b22cdd8feff6b85d.usd b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/ace98d09c98152d8b22cdd8feff6b85d.usd
new file mode 100644
index 0000000000000000000000000000000000000000..9b52fed007384ef7146ee6aef0437f10f140512f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/ace98d09c98152d8b22cdd8feff6b85d.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:654f476e63acd8e0fc67b60b348dc03f051699fea22f9ba681e0f5e26283857c
+size 1065423
diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mesh/material.mtl b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/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/ace98d09c98152d8b22cdd8feff6b85d/mesh/material_0.png b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f01f97a3e1a4afa2eb8beba7e2df3c9e7904f952
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d4ca7adc32ab08256c130d11d9c16bf45daf5a075b045234979957dcdd481c8
+size 2659610
diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mesh/metal_colander.glb b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mesh/metal_colander.glb
new file mode 100644
index 0000000000000000000000000000000000000000..536e82d87a459fd74a4da415a696208d541ba669
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mesh/metal_colander.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fc3633903cb6abd9b8932e845f2b064559a7c06cff88db4d8c03b8cbb2595b4
+size 3389708
diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mesh/metal_colander.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mesh/metal_colander.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8bfb6e400cc88ad45bf5a2a9406d55d03c9858a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mesh/metal_colander.obj
@@ -0,0 +1,66900 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mesh/metal_colander_collision.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mesh/metal_colander_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d97992c3262b7f4019dc4c09ac26cda7ddce5ee6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mesh/metal_colander_collision.obj
@@ -0,0 +1,17478 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mesh/metal_colander_gs.ply b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mesh/metal_colander_gs.ply
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--- /dev/null
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diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/ace98d09c98152d8b22cdd8feff6b85d.xml b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/ace98d09c98152d8b22cdd8feff6b85d.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1e4d3b713bbee7ba8e5f6aae00ce40e5b558e089
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/ace98d09c98152d8b22cdd8feff6b85d.xml
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+  </worldbody>
+</mujoco>
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diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f01f97a3e1a4afa2eb8beba7e2df3c9e7904f952
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d4ca7adc32ab08256c130d11d9c16bf45daf5a075b045234979957dcdd481c8
+size 2659610
diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fee68189d101a530bb8fe8d72a5ae4cdaad1538f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander.obj
@@ -0,0 +1,66900 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39bed9ef7b04f6a268990f3cffd391ec81e52ea5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision.obj
@@ -0,0 +1,17478 @@
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diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_0.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32b7f86c97f0bf59562d75779342b8a165415e89
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_0.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_1.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f6880d9937326c723efca763ceb94c2caa1565e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_1.obj
@@ -0,0 +1,346 @@
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diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_10.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8057b41612f672c3ade1cf9c39c0ba960989694
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_10.obj
@@ -0,0 +1,283 @@
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diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_11.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41bfcd33ef6c98c48c0497b32b4fc5e412c3d124
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_11.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_12.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83b2a7090238c26a97a6f770cd8a6b1ea2ab80e0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_12.obj
@@ -0,0 +1,295 @@
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diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_13.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a46e173c285ffb4d3614b5c4d1c818740d19fc0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_13.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_14.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b77237b3159e634bfa42ba0eaab4fa3a5c22b8c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_14.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_15.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f94ea29b1d175342f2110657a4b5e48964ebd284
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_15.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_16.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..732307f4351ec1817a6e458f8fff829cfd1e564e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_16.obj
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diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_17.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3e4cc4703df80a570f5b05a98a60f00cd8ec8b5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_17.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_18.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..baddf91758afb6e1814739e73291e017258e08f0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_18.obj
@@ -0,0 +1,466 @@
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diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_19.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..934834f78bfb7128c529d8ed1ca2518d53be1aab
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_19.obj
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diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_2.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4efe845872e5041b0010948ad8b513ecaba199cc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_2.obj
@@ -0,0 +1,451 @@
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diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_20.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b65a3ff96c65b8857ee84182d2ae754a81d626ce
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_20.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_21.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8db5379ed674269ebd826ca5b4d9acf7fd6b59e5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_21.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_22.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5491ca284fa87bf02c3f12f2479178524b70a852
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_22.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_23.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..943653651c0ad32d5004ac42c38fcd92baf5d0df
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_23.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_24.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19112b1616b92a101eccea66ecb26313ecb7f248
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_24.obj
@@ -0,0 +1,487 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_25.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..152dfba37a010f38d1ba1d4b57d7077a6e7009c8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_25.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_26.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33a8a11ec5163eb45f9cd519a05aed2939cf4672
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_26.obj
@@ -0,0 +1,451 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_27.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43425f96d9bc87fad3e8a905be0f62a887187b25
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_27.obj
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diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_28.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b10bfbf3e1814cbbfdf94f70b1dbb8498469fc2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_28.obj
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diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_29.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b09e3cf059eebacce05c2ce248aaa226dd296086
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_29.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_3.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1890bd3c32cae2c23b605cffd77e95dc8b340359
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_3.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_30.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bd1e282534259f7d820e84e207cafccb9050133
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_30.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_31.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4dc38261a60e48bceaa43851abf88f2e91550866
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_31.obj
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+f 131 148 132
+f 132 148 149
+f 132 149 150
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+f 136 149 137
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+f 142 144 146
+f 142 146 154
+f 147 149 148
+f 147 153 149
+f 149 155 156
+f 149 156 150
+f 149 152 155
+
diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_32.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b23e292c4193f450353da5b232288411f73ff8af
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_32.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.01824210 0.04083165 -0.05243023
+v 0.01824210 0.02334855 -0.05484235
+v 0.01824210 0.04083164 -0.04929157
+v 0.02260559 0.04083167 -0.05738587
+v 0.01824210 0.02334853 -0.05020605
+v 0.03846166 0.02334856 -0.05738593
+v 0.01824210 0.02862223 -0.04929161
+v 0.02991649 0.04083164 -0.04929157
+v 0.03104064 0.04083167 -0.05738587
+v 0.01824210 0.02338106 -0.05019970
+v 0.02347369 0.02334853 -0.04929163
+v 0.04440256 0.02334856 -0.05738593
+v 0.01824210 0.02347520 -0.05018227
+v 0.02338406 0.02343756 -0.04929163
+v 0.03236455 0.03861161 -0.04929158
+v 0.03116357 0.04073069 -0.05738587
+v 0.04382128 0.02334853 -0.04929163
+v 0.04432573 0.02351973 -0.05738593
+v 0.04161905 0.02836375 -0.04929162
+v 0.03128904 0.04061259 -0.05738587
+v 0.03261805 0.03836171 -0.04929158
+v 0.03284852 0.03913712 -0.05738588
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+v 0.03441313 0.03758463 -0.05738588
+v 0.03624406 0.03558195 -0.05738589
+v 0.03622870 0.03559907 -0.05738589
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+f 1 9 4
+f 1 4 2
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+f 33 36 34
+
diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_33.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05877104e5824de71b8e0aae4fa189ad54bfbe8d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_33.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.04973028 0.00150136 -0.05738601
+v 0.04871594 0.00150133 -0.04929171
+v 0.04871594 0.00140572 -0.04929171
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+f 32 36 33
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+f 33 39 34
+f 34 39 40
+f 34 40 35
+
diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_34.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fc4cdd0fbd63384b0f510143f8de224eb617b40
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_34.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.01360375 -0.02640868 -0.04987034
+v -0.00143946 -0.03120829 -0.04987035
+v 0.03923404 -0.02640870 -0.04409211
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+f 26 35 27
+f 30 33 32
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+
diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_35.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be9a1b676d15d8ee69ae6c4980715e0ae57461d9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_35.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
+v 0.06387460 -0.00160147 -0.03454819
+v 0.06380413 -0.00309875 -0.03454819
+v 0.06304356 -0.00470351 -0.03608209
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+f 24 38 25
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+f 25 54 77
+f 25 77 100
+f 25 100 118
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+f 25 117 122
+f 25 122 123
+f 25 123 119
+f 25 119 103
+f 25 103 102
+f 25 102 79
+f 25 79 56
+f 25 56 39
+f 25 39 26
+f 28 40 29
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+f 29 40 42
+f 29 42 41
+f 30 41 43
+f 30 43 31
+f 31 43 44
+f 31 44 32
+f 32 44 45
+f 32 45 46
+f 32 46 33
+f 33 46 47
+f 33 47 48
+f 33 48 34
+f 34 48 49
+f 34 49 35
+f 35 49 50
+f 35 50 51
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+f 37 52 53
+f 38 55 54
+f 39 56 57
+f 39 57 58
+f 40 59 42
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+f 41 60 61
+f 41 61 62
+f 41 62 43
+f 42 59 63
+f 42 63 64
+f 42 64 65
+f 42 65 66
+f 42 66 60
+f 43 67 44
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+f 44 67 68
+f 44 68 45
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+f 45 68 69
+f 46 70 71
+f 46 71 47
+f 46 69 72
+f 46 72 70
+f 47 71 48
+f 48 73 49
+f 48 71 73
+f 49 74 52
+f 49 52 50
+f 49 73 74
+f 52 74 53
+f 53 74 75
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+f 54 76 77
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+f 57 83 84
+f 57 84 80
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+f 61 86 87
+f 61 87 62
+f 62 87 67
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+f 69 92 72
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+f 71 95 73
+f 73 95 74
+f 74 95 75
+f 76 78 96
+f 76 96 97
+f 76 97 98
+f 76 98 99
+f 76 99 77
+f 77 99 100
+f 78 101 96
+f 79 102 81
+f 81 102 82
+f 82 85 83
+f 82 102 103
+f 82 103 104
+f 82 104 85
+f 85 104 105
+f 85 105 86
+f 86 105 106
+f 86 106 87
+f 87 106 107
+f 87 107 88
+f 88 107 89
+f 89 108 109
+f 89 109 90
+f 89 107 110
+f 89 110 111
+f 89 111 112
+f 89 112 108
+f 90 109 113
+f 90 113 91
+f 96 114 115
+f 96 115 111
+f 96 111 110
+f 96 110 106
+f 96 106 97
+f 96 101 114
+f 97 106 116
+f 97 116 98
+f 98 116 117
+f 98 117 118
+f 98 118 99
+f 99 118 100
+f 103 119 120
+f 103 120 104
+f 104 120 116
+f 104 116 105
+f 105 116 106
+f 106 110 107
+f 111 121 112
+f 111 115 121
+f 116 120 122
+f 116 122 117
+f 119 123 120
+f 120 123 122
+
diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_36.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57e548b301905e8978d81c187553150a3b07d8fe
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_36.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.02384086 0.05050687 -0.05736661
+v -0.02384086 0.04838537 -0.04875846
+v -0.02384086 0.04458974 -0.05736664
+v -0.02547286 0.04983602 -0.05736662
+v -0.02384086 0.03064375 -0.04875853
+v -0.02645590 0.04713506 -0.04875847
+v -0.02384086 0.03064377 -0.05328590
+v -0.04158379 0.03064378 -0.05736669
+v -0.02567954 0.04973685 -0.05736662
+v -0.04506172 0.03064375 -0.04875853
+v -0.02705198 0.04906015 -0.05736662
+v -0.02732358 0.04891042 -0.05736662
+v -0.02938583 0.04543556 -0.04875847
+v -0.04839545 0.03064378 -0.05736669
+v -0.04418203 0.03186488 -0.04875852
+v -0.04727058 0.03224216 -0.05736668
+v -0.02963339 0.04753760 -0.05736663
+v -0.03177254 0.04384496 -0.04875848
+v -0.03270031 0.04558339 -0.05736663
+v -0.03533699 0.04384694 -0.05736664
+v -0.03562541 0.04365638 -0.05736664
+v -0.04660480 0.03309385 -0.05736668
+v -0.04141555 0.03529694 -0.04875851
+v -0.03332284 0.04273272 -0.04875848
+v -0.03628638 0.04316830 -0.05736664
+v -0.04568905 0.03420998 -0.05736667
+v -0.04476128 0.03530279 -0.05736667
+v -0.03994699 0.03699839 -0.04875850
+v -0.03539708 0.04116544 -0.04875849
+v -0.03717089 0.04249940 -0.05736664
+v -0.04401618 0.03611365 -0.05736667
+v -0.03854572 0.03839452 -0.04875850
+v -0.04175204 0.03851122 -0.05736666
+v -0.04197558 0.03827984 -0.05736666
+v -0.04244188 0.03779176 -0.05736666
+v -0.03850246 0.04147659 -0.05736665
+v -0.03679114 0.04003568 -0.04875849
+v -0.04102858 0.03919958 -0.05736666
+v -0.03935092 0.04073186 -0.05736665
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 14
+f 1 14 16
+f 1 16 22
+f 1 22 26
+f 1 26 27
+f 1 27 31
+f 1 31 35
+f 1 35 34
+f 1 34 33
+f 1 33 38
+f 1 38 39
+f 1 39 36
+f 1 36 30
+f 1 30 25
+f 1 25 21
+f 1 21 20
+f 1 20 19
+f 1 19 17
+f 1 17 12
+f 1 12 11
+f 1 11 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 13
+f 2 13 18
+f 2 18 24
+f 2 24 29
+f 2 29 37
+f 2 37 32
+f 2 32 28
+f 2 28 23
+f 2 23 15
+f 2 15 10
+f 2 10 5
+f 3 7 8
+f 4 9 6
+f 5 10 14
+f 5 14 8
+f 5 8 7
+f 6 9 11
+f 6 11 12
+f 6 12 13
+f 10 15 16
+f 10 16 14
+f 12 17 13
+f 13 17 19
+f 13 19 20
+f 13 20 21
+f 13 21 18
+f 15 22 16
+f 15 23 22
+f 18 21 24
+f 21 25 24
+f 22 23 26
+f 23 27 26
+f 23 28 27
+f 24 25 29
+f 25 30 29
+f 27 28 31
+f 28 32 33
+f 28 33 34
+f 28 34 35
+f 28 35 31
+f 29 30 36
+f 29 36 37
+f 32 37 38
+f 32 38 33
+f 36 39 37
+f 37 39 38
+
diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_37.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aab89c02a11af1e6eb69cd1bc71305919d7a4220
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_37.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.06281857 -0.00067751 -0.04146526
+v -0.06281534 -0.00160216 -0.04146527
+v -0.05468530 -0.00067751 -0.04146526
+v -0.05539972 -0.00067748 -0.04842482
+v -0.05539972 -0.00160213 -0.04842483
+v -0.06280888 -0.00171311 -0.04146527
+v -0.04997213 -0.02166675 -0.04146534
+v -0.02979732 -0.02166672 -0.04842490
+v -0.03657614 -0.00067748 -0.04842482
+v -0.05519282 -0.00470274 -0.04842484
+v -0.06262786 -0.00470277 -0.04146528
+v -0.05887156 -0.02166675 -0.04146534
+v -0.05068976 -0.02166672 -0.04842490
+v -0.05485986 -0.00780335 -0.04842485
+v -0.06229814 -0.00780338 -0.04146529
+v -0.05942432 -0.02022841 -0.04146533
+v -0.05302696 -0.01599150 -0.04842488
+v -0.05135245 -0.02020786 -0.04842489
+v -0.05436850 -0.01090601 -0.04842486
+v -0.06182617 -0.01089989 -0.04146530
+v -0.05993184 -0.01866477 -0.04146533
+v -0.05367025 -0.01400456 -0.04842487
+v -0.06128308 -0.01365735 -0.04146531
+v -0.06040381 -0.01710521 -0.04146532
+v -0.06113761 -0.01429637 -0.04146531
+f 1 2 6
+f 1 6 11
+f 1 11 15
+f 1 15 20
+f 1 20 23
+f 1 23 25
+f 1 25 24
+f 1 24 21
+f 1 21 16
+f 1 16 12
+f 1 12 7
+f 1 7 3
+f 1 3 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 4 9 8
+f 4 8 13
+f 4 13 18
+f 4 18 17
+f 4 17 22
+f 4 22 19
+f 4 19 14
+f 4 14 10
+f 4 10 5
+f 5 10 11
+f 5 11 6
+f 7 12 13
+f 7 13 8
+f 10 14 15
+f 10 15 11
+f 12 16 17
+f 12 17 18
+f 12 18 13
+f 14 19 20
+f 14 20 15
+f 16 21 17
+f 17 21 22
+f 19 22 23
+f 19 23 20
+f 21 24 22
+f 22 24 25
+f 22 25 23
+
diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_38.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81eba17ceeaeaa32e5706f4df17fac655203c26a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_38.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.00144449 0.03723282 -0.04875767
+v -0.02727013 0.03270407 -0.04707715
+v -0.01718104 0.03270408 -0.04875769
+v -0.00144449 0.05251085 -0.04875762
+v -0.00144449 0.05528995 -0.04030526
+v -0.02727013 0.03270408 -0.04875769
+v -0.02727013 0.04877737 -0.04030528
+v -0.00158858 0.05251954 -0.04875762
+v -0.00144449 0.05865906 -0.04363158
+v -0.00144449 0.06223637 -0.04030523
+v -0.02727013 0.04651010 -0.04875764
+v -0.02727013 0.05686318 -0.04030525
+v -0.00165179 0.05252242 -0.04875762
+v -0.00165179 0.05866485 -0.04363488
+v -0.00144449 0.06038264 -0.04208839
+v -0.00144449 0.06193269 -0.04066764
+v -0.00165179 0.06193849 -0.04067261
+v -0.00165179 0.06224504 -0.04030523
+v -0.02645106 0.04713766 -0.04875764
+v -0.02727013 0.05617489 -0.04106897
+v -0.02702743 0.05698753 -0.04030525
+v -0.00475105 0.05248771 -0.04875762
+v -0.00475105 0.05862436 -0.04361006
+v -0.00475105 0.06038553 -0.04206687
+v -0.00165179 0.06038553 -0.04209170
+v -0.00475105 0.06193558 -0.04067261
+v -0.00475105 0.06224215 -0.04030523
+v -0.02319504 0.04869352 -0.04875763
+v -0.02645359 0.05727671 -0.04030525
+v -0.02390035 0.05844793 -0.04030525
+v -0.02381189 0.05848844 -0.04030525
+v -0.02645359 0.05636287 -0.04123198
+v -0.00785286 0.05227661 -0.04875762
+v -0.00785286 0.05851445 -0.04352816
+v -0.00785286 0.06030166 -0.04198495
+v -0.00785286 0.06185173 -0.04058408
+v -0.00785286 0.06208599 -0.04030523
+v -0.00544878 0.06220743 -0.04030523
+v -0.02307119 0.05738949 -0.04156379
+v -0.01999972 0.05002668 -0.04875763
+v -0.02218894 0.05911886 -0.04030524
+v -0.02184764 0.05889040 -0.04072724
+v -0.01330566 0.05177630 -0.04875762
+v -0.01095467 0.06013682 -0.04184428
+v -0.01095467 0.06168979 -0.04040619
+v -0.01095467 0.06177365 -0.04030523
+v -0.02025250 0.05914489 -0.04096884
+v -0.01715322 0.05087404 -0.04875762
+v -0.02026768 0.05972615 -0.04030524
+v -0.01387194 0.05169534 -0.04875762
+v -0.01405394 0.05990835 -0.04163743
+v -0.01405394 0.06129650 -0.04030523
+v -0.01218073 0.06159725 -0.04030523
+v -0.01715322 0.06061400 -0.04030524
+v -0.01715322 0.05958447 -0.04136188
+f 1 2 3
+f 1 3 6
+f 1 6 11
+f 1 11 19
+f 1 19 28
+f 1 28 40
+f 1 40 48
+f 1 48 50
+f 1 50 43
+f 1 43 33
+f 1 33 22
+f 1 22 13
+f 1 13 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 16
+f 1 16 10
+f 1 10 5
+f 1 5 2
+f 2 6 3
+f 2 5 7
+f 2 7 12
+f 2 12 20
+f 2 20 11
+f 2 11 6
+f 4 8 9
+f 5 10 18
+f 5 18 27
+f 5 27 38
+f 5 38 37
+f 5 37 46
+f 5 46 53
+f 5 53 52
+f 5 52 54
+f 5 54 49
+f 5 49 41
+f 5 41 31
+f 5 31 30
+f 5 30 29
+f 5 29 21
+f 5 21 12
+f 5 12 7
+f 8 13 14
+f 8 14 9
+f 9 14 15
+f 10 16 17
+f 10 17 18
+f 11 20 19
+f 12 21 20
+f 13 22 14
+f 14 23 24
+f 14 24 25
+f 14 25 15
+f 14 22 23
+f 15 25 17
+f 15 17 16
+f 17 26 27
+f 17 27 18
+f 17 25 26
+f 19 20 28
+f 20 21 29
+f 20 29 30
+f 20 30 31
+f 20 31 32
+f 20 32 28
+f 22 33 34
+f 22 34 23
+f 23 34 35
+f 23 35 24
+f 24 35 26
+f 24 26 25
+f 26 36 37
+f 26 37 38
+f 26 38 27
+f 26 35 36
+f 28 32 39
+f 28 39 40
+f 31 41 42
+f 31 42 32
+f 32 42 39
+f 33 43 34
+f 34 44 35
+f 34 43 44
+f 35 44 36
+f 36 45 37
+f 36 44 45
+f 37 45 46
+f 39 42 40
+f 40 42 47
+f 40 47 48
+f 41 49 42
+f 42 49 47
+f 43 50 44
+f 44 51 45
+f 44 50 51
+f 45 52 53
+f 45 53 46
+f 45 51 52
+f 47 49 54
+f 47 54 55
+f 47 55 48
+f 48 55 50
+f 50 55 51
+f 51 55 52
+f 52 55 54
+
diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_39.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d047d9d61a41be1b8de868deb4044da97404aff7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_39.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.05887386 -0.02166806 -0.04146534
+v -0.05834891 -0.02305593 -0.04146534
+v -0.04997246 -0.02166806 -0.04146534
+v -0.05068748 -0.02166803 -0.04842490
+v -0.05805025 -0.02377942 -0.04146535
+v -0.04141048 -0.03508070 -0.04146539
+v -0.01264272 -0.03508067 -0.04842495
+v -0.02979839 -0.02166803 -0.04842490
+v -0.05022588 -0.02268431 -0.04842490
+v -0.05697322 -0.02606278 -0.04146536
+v -0.05190028 -0.03508070 -0.04146539
+v -0.04244225 -0.03508067 -0.04842495
+v -0.05680124 -0.02641862 -0.04146536
+v -0.04827092 -0.02641201 -0.04842492
+v -0.05194553 -0.03500717 -0.04146539
+v -0.04705361 -0.02860085 -0.04842493
+v -0.04600824 -0.03015154 -0.04842493
+v -0.04445605 -0.03240733 -0.04842494
+v -0.04334734 -0.03395802 -0.04842494
+v -0.05661118 -0.02677970 -0.04146536
+v -0.05532599 -0.02919436 -0.04146537
+v -0.05340269 -0.03262007 -0.04146538
+v -0.05390048 -0.03174559 -0.04146538
+f 1 2 5
+f 1 5 10
+f 1 10 13
+f 1 13 20
+f 1 20 21
+f 1 21 23
+f 1 23 22
+f 1 22 15
+f 1 15 11
+f 1 11 6
+f 1 6 3
+f 1 3 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 4 9 5
+f 4 8 7
+f 4 7 12
+f 4 12 19
+f 4 19 18
+f 4 18 17
+f 4 17 16
+f 4 16 14
+f 4 14 9
+f 5 9 10
+f 6 11 12
+f 6 12 7
+f 9 13 10
+f 9 14 13
+f 11 15 16
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 11 19 12
+f 13 14 20
+f 14 16 21
+f 14 21 20
+f 15 22 16
+f 16 22 23
+f 16 23 21
+
diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_4.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d20639d6509007003562358688f04757b47120f1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_4.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v 0.05444495 0.02723717 -0.03088952
+v 0.05991912 0.02723717 -0.03088952
+v 0.06048343 0.00008983 -0.03088962
+v 0.08511718 0.00008951 0.05648971
+v 0.08155475 0.02723685 0.05653623
+v 0.06070992 0.02630977 -0.02990532
+v 0.06032604 0.02631508 -0.03088952
+v 0.06031451 0.02723717 -0.02986818
+v 0.06527044 0.00008983 -0.03088962
+v 0.08558935 0.00008951 0.05791028
+v 0.08256821 0.02723684 0.05972092
+v 0.08223804 0.02723684 0.05869960
+v 0.06166961 0.02349565 -0.03019316
+v 0.06172336 0.02723715 -0.02569930
+v 0.06157748 0.02647983 -0.02710131
+v 0.06189611 0.02472066 -0.02832691
+v 0.06142392 0.02342391 -0.03088953
+v 0.06526660 0.00150087 -0.03088961
+v 0.06558139 0.00008983 -0.02990542
+v 0.08624580 0.00008950 0.05987866
+v 0.08672564 0.00008950 0.06110426
+v 0.08327071 0.02723683 0.06130863
+v 0.06179630 0.02241676 -0.03088954
+v 0.06225696 0.02265328 -0.02934825
+v 0.09012300 0.02723684 0.06061227
+v 0.06223393 0.02555772 -0.02626568
+v 0.06518599 0.00374367 -0.03088961
+v 0.06557754 0.00150087 -0.02990541
+v 0.09366239 0.00150054 0.06015723
+v 0.09365857 0.00008950 0.06017576
+v 0.08713639 0.00008949 0.06152207
+v 0.08335900 0.02723683 0.06149432
+v 0.06222625 0.02108544 -0.03088954
+v 0.06267155 0.02038657 -0.03019318
+v 0.09012300 0.02723683 0.06166144
+v 0.09302515 0.01603086 0.06092790
+v 0.06364277 0.01700643 -0.02990536
+v 0.06509386 0.00498729 -0.03088960
+v 0.06538945 0.00440267 -0.03011895
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diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_40.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cf0be966b34eec7cca002d479c13e95047d6b14
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_40.obj
@@ -0,0 +1,364 @@
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diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_41.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..940e8ce57a0cc6c563b29b1d01970fa4ba84d541
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_41.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_42.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94a809079167ad112b1f695e06fa2949e156d6d8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_42.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.01317662 0.03212058 -0.04929082
+v 0.03905008 0.03212056 -0.04234144
+v 0.03854989 0.03212058 -0.04929082
+v 0.02759532 0.01836803 -0.04929087
+v 0.04685471 0.01836801 -0.04234149
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+v 0.04688363 0.03212056 -0.04411416
+v 0.04128646 0.02894464 -0.04929083
+v 0.04561868 0.01836803 -0.04929087
+v 0.05540753 0.01836801 -0.04234149
+v 0.05083967 0.02939832 -0.04234145
+v 0.04903735 0.03016437 -0.04345705
+v 0.04823951 0.03212056 -0.04313257
+v 0.04697045 0.03184995 -0.04417196
+v 0.04964087 0.02809779 -0.04389241
+v 0.04161718 0.02836169 -0.04929084
+v 0.04537480 0.01971974 -0.04929087
+v 0.05316287 0.01836801 -0.04421080
+v 0.05471305 0.01836801 -0.04295914
+v 0.05490319 0.02010881 -0.04234149
+v 0.05092649 0.02924620 -0.04234145
+v 0.05163336 0.02630990 -0.04302034
+v 0.05008319 0.02630990 -0.04420464
+v 0.04439922 0.02285663 -0.04929086
+v 0.04459765 0.02238272 -0.04929086
+v 0.05291070 0.02010881 -0.04402510
+v 0.05446090 0.02010881 -0.04273398
+v 0.05417152 0.02210806 -0.04234148
+v 0.05109599 0.02891500 -0.04234145
+v 0.05242705 0.02630990 -0.04234146
+v 0.05221210 0.02379634 -0.04348835
+v 0.05263789 0.02172842 -0.04381828
+v 0.05391110 0.02281488 -0.04234148
+v 0.05382428 0.02304106 -0.04234148
+f 1 2 6
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+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 24
+f 1 24 25
+f 1 25 17
+f 1 17 9
+f 1 9 4
+f 1 4 5
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+f 4 10 5
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+f 17 25 18
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+f 21 29 22
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+f 24 31 32
+f 24 32 25
+f 25 32 26
+f 26 32 27
+f 27 32 28
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+f 30 34 31
+f 31 34 32
+f 32 34 33
+
diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_43.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4dbbc8c706c0e70d816d48e77c2fa8f444011896
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_43.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.05245404 0.01939476 -0.04606101
+v -0.05141960 0.01939477 -0.04875857
+v -0.05383072 0.01677989 -0.04606102
+v -0.03975480 0.01939476 -0.04606101
+v -0.05222159 0.01738108 -0.04875858
+v -0.03058798 0.01939477 -0.04875857
+v -0.05390734 0.01657559 -0.04606102
+v -0.05287546 0.01566991 -0.04875858
+v -0.04402279 -0.00067543 -0.04606108
+v -0.03535400 -0.00067542 -0.04875864
+v -0.05337097 0.01418862 -0.04875859
+v -0.05345269 0.01390374 -0.04875859
+v -0.05463526 0.01390373 -0.04606103
+v -0.05668114 -0.00067543 -0.04606108
+v -0.05541938 -0.00067542 -0.04875864
+v -0.05419850 0.01113762 -0.04875860
+v -0.05428022 0.01080365 -0.04875860
+v -0.05529679 0.01080364 -0.04606104
+v -0.05666581 0.00150132 -0.04606107
+v -0.05542450 0.00150133 -0.04875863
+v -0.05482171 0.00767407 -0.04875861
+v -0.05580506 0.00775261 -0.04606105
+v -0.05650489 0.00286669 -0.04606107
+v -0.05516141 0.00487846 -0.04875862
+v -0.05541172 0.00185888 -0.04875863
+v -0.05627246 0.00460341 -0.04606106
+v -0.05614732 0.00547765 -0.04606106
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+f 21 27 22
+
diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_44.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4caba766096741dffeda39084ca986a1557a8be4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_44.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v -0.02646805 -0.04381939 -0.05591612
+v -0.02646805 -0.04565764 -0.06088470
+v -0.02646805 -0.04993881 -0.05591614
+v -0.00144449 -0.04913312 -0.05591614
+v -0.00144449 -0.04998263 -0.05832674
+v -0.00144449 -0.05084505 -0.06077085
+v -0.02646805 -0.04582136 -0.06120912
+v -0.00144449 -0.05209418 -0.06367143
+v -0.02646805 -0.05048540 -0.05714490
+v -0.02646562 -0.05210709 -0.06076033
+v -0.02594876 -0.05016700 -0.05591614
+v -0.00144449 -0.05457448 -0.05591616
+v -0.02646805 -0.04811597 -0.06404656
+v -0.00144449 -0.05218442 -0.06380159
+v -0.00144449 -0.05316157 -0.06519398
+v -0.02646805 -0.05057693 -0.05735733
+v -0.02646805 -0.05131814 -0.06391355
+v -0.02646805 -0.05131813 -0.06403221
+v -0.02544173 -0.05300045 -0.06295658
+v -0.02544173 -0.05300045 -0.06178142
+v -0.02646805 -0.05064783 -0.05752673
+v -0.02502778 -0.05053954 -0.05591615
+v -0.00144449 -0.05645529 -0.06047325
+v -0.00157184 -0.05458737 -0.05591616
+v -0.02646805 -0.04814690 -0.06407240
+v -0.00144449 -0.05469175 -0.06568108
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+v -0.02216927 -0.05288314 -0.06546768
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+v -0.01614607 -0.05599634 -0.06277957
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+v -0.02342092 -0.05118023 -0.05591615
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+v -0.02646805 -0.05113765 -0.06417959
+v -0.02025380 -0.05301074 -0.06551073
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+v -0.01715279 -0.05315774 -0.05591616
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+v -0.00144449 -0.05622193 -0.06568205
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+v -0.01227839 -0.05412716 -0.05591616
+v -0.00917738 -0.05449583 -0.05591616
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+f 65 74 72
+f 66 70 67
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+f 68 70 77
+f 68 77 75
+
diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_45.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76684dd508750c843727953f015918f347b83142
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_45.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.00144131 0.05399260 -0.05738582
+v -0.00144131 0.05214800 -0.04929153
+v 0.00145224 0.05204755 -0.04929153
+v 0.00455248 0.05183628 -0.04929153
+v 0.00145224 0.05375559 -0.05738582
+v -0.00144131 0.04850143 -0.05738584
+v -0.00144131 0.04083466 -0.04929157
+v 0.00765272 0.05148850 -0.04929153
+v 0.00472418 0.05328800 -0.05738582
+v -0.00144131 0.04083467 -0.05276383
+v 0.02260381 0.04083469 -0.05738587
+v 0.02991400 0.04083466 -0.04929157
+v 0.01087697 0.05085604 -0.04929153
+v 0.00690866 0.05287323 -0.05738583
+v 0.00478144 0.05327770 -0.05738582
+v 0.03103646 0.04083469 -0.05738587
+v 0.02972959 0.04130482 -0.04929157
+v 0.01074342 0.05196512 -0.05738583
+v 0.00829820 0.05256409 -0.05738583
+v 0.00765272 0.05271737 -0.05738583
+v 0.01975477 0.04766286 -0.04929154
+v 0.01385002 0.05098232 -0.05738583
+v 0.02928760 0.04230571 -0.05738586
+v 0.02928124 0.04168866 -0.04929157
+v 0.02023492 0.04741296 -0.04929155
+v 0.01988195 0.04842286 -0.05738584
+v 0.01796141 0.04934127 -0.05738584
+v 0.01735727 0.04960018 -0.05738584
+v 0.01658138 0.04992994 -0.05738584
+v 0.02915405 0.04241390 -0.05738586
+v 0.02788852 0.04343536 -0.05738586
+v 0.02620326 0.04402656 -0.04929156
+v 0.02568816 0.04439110 -0.04929156
+v 0.02252113 0.04700981 -0.05738585
+v 0.02641313 0.04449158 -0.05738586
+v 0.02406012 0.04609270 -0.05738585
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+f 1 15 14
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+f 1 20 19
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+f 1 18 22
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+f 8 13 14
+f 8 14 15
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diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_46.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8218c8fd70679ac2e7e0f9377f4491dfb4cbbb5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_46.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_47.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c8eea59ae22c738db314c7a16524c90cbe912bf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_47.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_48.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec53a0239550977e5c4f597255e0120a633817de
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_48.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_49.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f741cb0cf0f0584179241167645bf9d7f67f81fe
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_49.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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+v -0.02978693 -0.03508345 -0.04554183
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+
diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_5.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64c97b58d81d72647281484a25d0354c5865527c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_5.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_50.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a4f4eaf4d29b121064016d1bad6c6ea268cb4a5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_50.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.04276682 -0.03818739 -0.05591610
+v -0.04209539 -0.03892189 -0.05591610
+v -0.03975745 -0.03818742 -0.04842643
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diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_51.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca5b3561707602bf3b38794bf6106f85a21d94ff
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_51.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.03032078 0.00008990 -0.04987024
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+
diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_52.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b50984b47468fcccce12dde08825184bab8e236c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_52.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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+v -0.04312874 -0.02572339 -0.05238356
+v -0.04312874 -0.02457593 -0.05180367
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+
diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_53.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b595dcbb214bd4d9c40ca485bd6b2f8e4c3af36
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_53.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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+v -0.00144449 -0.03933642 -0.04987168
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diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_54.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a8f2eb6e8e224461eac3eb2fdb36fae395c78bd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_54.obj
@@ -0,0 +1,232 @@
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diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_55.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c38e30791f6c0e3614aaa6214468dd7c65c3900
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_55.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_56.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..887d55e7cafa47626d4bf87c3252581296b7c7e9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_56.obj
@@ -0,0 +1,355 @@
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diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_57.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fa4edff77423936504d51208bd4946f50c9572a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_57.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_58.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32b0586db269720e7a293526b2bccdf65af8a758
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_58.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_59.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddbea0a16e327974fb7a39a1e8eb709dcd10a355
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_59.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_6.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a09a0baac581eabd756861bb65d3d70e600c4dd9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_6.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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+f 101 112 102
+f 103 113 107
+f 103 107 104
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+f 105 107 106
+f 107 113 108
+f 108 113 109
+
diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_60.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..295def393b784481f683b7bed8e0b251eeab58dc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_60.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.02053086 0.00008993 -0.05621142
+v 0.02053086 -0.00021986 -0.05620919
+v 0.02053086 0.00008991 -0.05159537
+v 0.04422713 0.00008993 -0.05738713
+v 0.04010864 -0.02059451 -0.05738721
+v 0.02053086 -0.00160274 -0.05619081
+v 0.02053086 -0.02059454 -0.04991575
+v 0.03031975 0.00008990 -0.04987154
+v 0.04972321 0.00008993 -0.05738713
+v 0.02053086 -0.02059452 -0.05460093
+v 0.02053086 -0.02020780 -0.05465097
+v 0.02053086 -0.01757973 -0.05494894
+v 0.02053086 -0.01710594 -0.05500190
+v 0.02053086 -0.01400410 -0.05532121
+v 0.02053086 -0.01137806 -0.05557650
+v 0.02053086 -0.01090425 -0.05561991
+v 0.02053086 -0.00852320 -0.05583033
+v 0.02053086 -0.00799070 -0.05586784
+v 0.02053086 -0.00518241 -0.05604147
+v 0.02053086 -0.00470257 -0.05606721
+v 0.02053086 -0.00287830 -0.05615036
+v 0.04594196 -0.02059451 -0.05738721
+v 0.02074236 -0.02059454 -0.04988265
+v 0.02081668 -0.02059454 -0.04987162
+v 0.04856282 0.00008990 -0.04987154
+v 0.04972321 -0.00058634 -0.05738713
+v 0.04602199 -0.02039812 -0.05738720
+v 0.04477588 -0.02059454 -0.04987162
+v 0.04855426 -0.00160277 -0.04987155
+v 0.04972034 -0.00160274 -0.05738714
+v 0.04605629 -0.02030092 -0.05738720
+v 0.04493306 -0.02020782 -0.04987161
+v 0.04842850 -0.00470260 -0.04987156
+v 0.04964030 -0.00307875 -0.05738714
+v 0.04705662 -0.01738738 -0.05738719
+v 0.04698803 -0.01410334 -0.04987159
+v 0.04819128 -0.00780446 -0.04987157
+v 0.04955170 -0.00470257 -0.05738715
+v 0.04710235 -0.01724362 -0.05738719
+v 0.04719094 -0.01343519 -0.04987159
+v 0.04774828 -0.01090427 -0.04987158
+v 0.04923731 -0.00780443 -0.05738716
+v 0.04930877 -0.00709982 -0.05738716
+v 0.04803694 -0.01401623 -0.05738718
+v 0.04876288 -0.01081923 -0.05738717
+v 0.04884005 -0.01035152 -0.05738717
+f 1 2 6
+f 1 6 21
+f 1 21 20
+f 1 20 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 7
+f 1 7 3
+f 1 3 8
+f 1 8 25
+f 1 25 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 4 9 26
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+f 4 35 31
+f 4 31 27
+f 4 27 22
+f 4 22 5
+f 5 10 11
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+f 5 20 21
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+f 5 28 24
+f 5 24 23
+f 5 23 7
+f 5 7 10
+f 7 23 8
+f 8 23 24
+f 8 24 28
+f 8 28 32
+f 8 32 36
+f 8 36 40
+f 8 40 41
+f 8 41 37
+f 8 37 33
+f 8 33 29
+f 8 29 25
+f 9 25 26
+f 22 27 28
+f 25 29 30
+f 25 30 26
+f 27 31 32
+f 27 32 28
+f 29 33 30
+f 30 33 34
+f 31 35 32
+f 32 35 36
+f 33 37 38
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+f 37 42 43
+f 37 43 38
+f 39 44 40
+f 40 44 45
+f 40 45 41
+f 41 45 46
+f 41 46 42
+
diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_61.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5816ad1875a1a5981862483f79eda5aeeae4431
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_61.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.02384086 0.04169305 -0.05231841
+v -0.01405231 0.03064182 -0.05436023
+v -0.01715220 0.03064182 -0.05408685
+v -0.02025865 0.03064182 -0.05374484
+v -0.02203441 0.03064182 -0.05352311
+v -0.02335416 0.03064182 -0.05335301
+v -0.02384086 0.03064182 -0.05328619
+v -0.02384086 0.04169304 -0.04875850
+v -0.00452903 0.04169305 -0.05248485
+v -0.00165055 0.04010162 -0.05299515
+v -0.00475264 0.04005186 -0.05297936
+v -0.00475264 0.03850046 -0.05338212
+v -0.00475264 0.03561513 -0.05400969
+v -0.00475264 0.03251343 -0.05458924
+v -0.00475264 0.03064182 -0.05491547
+v -0.00785252 0.03064182 -0.05478182
+v -0.01095241 0.03064182 -0.05458316
+v -0.02384086 0.03064180 -0.04875854
+v -0.00144449 0.04169304 -0.04875850
+v -0.00165055 0.04169305 -0.05249944
+v -0.00144449 0.04009514 -0.05299271
+v -0.00144449 0.03999235 -0.05302006
+v -0.00144449 0.03854374 -0.05339246
+v -0.00165055 0.03855132 -0.05339366
+v -0.00165055 0.03561513 -0.05404431
+v -0.00165055 0.03251343 -0.05464148
+v -0.00165055 0.03064182 -0.05496407
+v -0.02053270 0.03064180 -0.04875854
+v -0.00144449 0.03723143 -0.04875851
+v -0.00144449 0.04169305 -0.05228195
+v -0.00144666 0.04169305 -0.05249457
+v -0.00144449 0.03835658 -0.05343436
+v -0.00144449 0.03561513 -0.05404188
+v -0.00144449 0.03540960 -0.05408196
+v -0.00144449 0.03251343 -0.05463966
+v -0.00144449 0.03230790 -0.05467610
+v -0.00156505 0.03064182 -0.05496407
+v -0.00144449 0.03064181 -0.05039694
+v -0.00144449 0.03317986 -0.04976453
+v -0.00144449 0.03064182 -0.05496347
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 18
+f 1 18 8
+f 1 8 19
+f 1 19 30
+f 1 30 31
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+f 1 20 9
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+f 1 12 13
+f 1 13 14
+f 1 14 15
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+f 1 17 2
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+f 2 16 15
+f 2 15 27
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+f 2 37 40
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+f 2 18 7
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+f 2 4 3
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+f 9 20 10
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+f 10 23 24
+f 10 24 12
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+f 19 29 39
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+f 19 38 40
+f 19 40 36
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+f 19 33 32
+f 19 32 23
+f 19 23 22
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+f 23 32 24
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+f 24 33 25
+f 25 33 34
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+f 25 35 26
+f 26 35 36
+f 26 36 37
+f 26 37 27
+f 28 38 39
+f 28 39 29
+f 36 40 37
+
diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_62.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a94398376f67353b8e2f66fa885f96f5f1a58590
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_62.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.04493963 0.03269986 -0.04606096
+v -0.04347566 0.03269987 -0.04875852
+v -0.04418348 0.03186366 -0.04875852
+v -0.04503974 0.03257352 -0.04606096
+v -0.03098383 0.03269986 -0.04606096
+v -0.01718339 0.03269987 -0.04875852
+v -0.04575102 0.02968978 -0.04875853
+v -0.04766725 0.02924955 -0.04606097
+v -0.03975022 0.01939476 -0.04606101
+v -0.03059021 0.01939477 -0.04875857
+v -0.04680409 0.02813981 -0.04875854
+v -0.04778810 0.02906977 -0.04606097
+v -0.05245615 0.01939476 -0.04606101
+v -0.05142034 0.01939477 -0.04875857
+v -0.04788823 0.02629154 -0.04875854
+v -0.05008760 0.02235017 -0.04875856
+v -0.05102329 0.02305871 -0.04606100
+v -0.05114412 0.02008510 -0.04875857
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 12
+f 1 12 17
+f 1 17 13
+f 1 13 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 10
+f 2 10 14
+f 2 14 18
+f 2 18 16
+f 2 16 15
+f 2 15 11
+f 2 11 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 5 9 6
+f 6 9 10
+f 7 11 8
+f 8 11 12
+f 9 13 14
+f 9 14 10
+f 11 15 12
+f 12 15 16
+f 12 16 17
+f 13 17 14
+f 14 17 18
+f 16 18 17
+
diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_63.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fc90e9d3b373d66eac291b2d644a69010e68b19
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_63.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.05106346 -0.02572460 -0.05591605
+v -0.05091444 -0.02604547 -0.05591606
+v -0.04862078 -0.02572463 -0.04842638
+v -0.04483894 -0.02572460 -0.05591605
+v -0.05080772 -0.02627240 -0.05591606
+v -0.04827240 -0.02641151 -0.04842567
+v -0.04711448 -0.02572463 -0.04842566
+v -0.03049092 -0.02572462 -0.05224820
+v -0.03506819 -0.03818739 -0.05591610
+v -0.04980084 -0.02811711 -0.05591606
+v -0.04705406 -0.02860272 -0.04842568
+v -0.04914233 -0.02930422 -0.05591607
+v -0.03049092 -0.02572463 -0.04842566
+v -0.03049092 -0.03818741 -0.05145484
+v -0.04276679 -0.03818739 -0.05591610
+v -0.04818176 -0.03087320 -0.05591607
+v -0.04746085 -0.03202737 -0.05591608
+v -0.04685068 -0.03293385 -0.05591608
+v -0.04600894 -0.03015341 -0.04842568
+v -0.03049092 -0.03818742 -0.04842571
+v -0.04053956 -0.03740417 -0.04842571
+v -0.04343534 -0.03745292 -0.05591610
+v -0.03976225 -0.03818742 -0.04842643
+v -0.04630495 -0.03371713 -0.05591608
+v -0.04445833 -0.03240806 -0.04842569
+v -0.03827006 -0.03818742 -0.04842571
+v -0.04192906 -0.03571438 -0.04842570
+v -0.04355617 -0.03731993 -0.05591610
+v -0.04573708 -0.03448577 -0.05591609
+v -0.04334878 -0.03395874 -0.04842569
+v -0.04484297 -0.03569240 -0.05591609
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 22
+f 1 22 28
+f 1 28 31
+f 1 31 29
+f 1 29 24
+f 1 24 18
+f 1 18 17
+f 1 17 16
+f 1 16 12
+f 1 12 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 4 8 9
+f 5 10 6
+f 6 11 19
+f 6 19 25
+f 6 25 30
+f 6 30 27
+f 6 27 21
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+f 6 26 20
+f 6 20 13
+f 6 13 7
+f 6 10 12
+f 6 12 11
+f 8 13 20
+f 8 20 14
+f 8 14 9
+f 9 14 20
+f 9 20 26
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+f 9 23 15
+f 11 12 16
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 15 21 22
+f 15 23 21
+f 18 24 25
+f 18 25 19
+f 21 27 28
+f 21 28 22
+f 21 23 26
+f 24 29 30
+f 24 30 25
+f 27 30 28
+f 28 30 31
+f 29 31 30
+
diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_64.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fecb46f5bebbd4c82cc5a9ef80f3f9bbdfdfddab
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_64.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.03048808 -0.02572462 -0.05224819
+v -0.03048808 -0.03818741 -0.05145528
+v -0.03048808 -0.02572463 -0.04842491
+v -0.02958109 -0.02572462 -0.05244981
+v -0.03048808 -0.03818742 -0.04842496
+v -0.02725247 -0.02572462 -0.05293732
+v -0.02583370 -0.02572461 -0.05322863
+v -0.02353638 -0.02572461 -0.05360759
+v -0.02094050 -0.02572461 -0.05397913
+v -0.02025244 -0.02572461 -0.05407286
+v -0.01715332 -0.02572461 -0.05441000
+v -0.01474226 -0.02572461 -0.05463253
+v -0.01405421 -0.02572461 -0.05469455
+v -0.01164030 -0.02572461 -0.05489213
+v -0.01095508 -0.02641149 -0.05484293
+v -0.01095508 -0.02951285 -0.05430484
+v -0.00785311 -0.02951285 -0.05451724
+v -0.00785311 -0.03261300 -0.05396567
+v -0.00765125 -0.03586686 -0.05331228
+v -0.00648269 -0.03731262 -0.05306684
+v -0.00561266 -0.03818741 -0.05288343
+v -0.02650756 -0.02572463 -0.04842491
+v -0.00144733 -0.03818742 -0.04842496
+v -0.01095508 -0.02572461 -0.05494269
+v -0.00854118 -0.02572461 -0.05509240
+v -0.00785311 -0.02641149 -0.05503509
+v -0.00475116 -0.02951285 -0.05466222
+v -0.00475116 -0.03261300 -0.05411537
+v -0.00475116 -0.03571436 -0.05350514
+v -0.00475116 -0.03750296 -0.05311539
+v -0.00475116 -0.03818741 -0.05293266
+v -0.00144733 -0.03783361 -0.04842496
+v -0.00144733 -0.02572462 -0.05085308
+v -0.00144733 -0.03818741 -0.05306145
+v -0.00785311 -0.02572461 -0.05513150
+v -0.00475116 -0.02572461 -0.05525491
+v -0.00475116 -0.02641149 -0.05515647
+v -0.00165204 -0.02951285 -0.05473031
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+v -0.00165204 -0.03818741 -0.05306077
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+v -0.00144733 -0.03584979 -0.05358067
+v -0.00144733 -0.03775796 -0.05317812
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+f 1 36 35
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+f 40 54 55
+f 40 55 41
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+f 41 45 42
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+f 46 48 47
+
diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_65.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf0b9a4f6ebd8bcfe512467f3f7a24d9230688c0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_65.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.00144449 0.04083165 -0.05276306
+v -0.00144449 0.04009393 -0.05299286
+v -0.00144449 0.04083164 -0.04929146
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+v -0.00144449 0.03999123 -0.05302058
+v -0.00144449 0.03519168 -0.04929148
+v 0.01824210 0.04083164 -0.04929146
+v 0.01824210 0.02334855 -0.05484229
+v 0.01695292 0.02334855 -0.05502681
+v 0.01681416 0.02334855 -0.05504439
+v 0.01385232 0.02631148 -0.05498287
+v 0.01075171 0.02631148 -0.05526472
+v 0.01075171 0.02941304 -0.05477331
+v 0.00765305 0.02941304 -0.05497406
+v 0.00455245 0.03251290 -0.05453335
+v 0.00455245 0.03561447 -0.05392906
+v 0.00145186 0.03561447 -0.05400678
+v 0.00145186 0.03844216 -0.05337478
+v -0.00144449 0.03854317 -0.05339235
+v -0.00144449 0.02334854 -0.05155047
+v 0.01824210 0.02334853 -0.05020605
+v 0.01824210 0.02338106 -0.05019995
+v 0.01824210 0.02347520 -0.05018239
+v 0.01824210 0.02862223 -0.04929150
+v 0.01385232 0.02334855 -0.05538843
+v 0.01075171 0.02334855 -0.05568111
+v 0.00790357 0.02334856 -0.05591161
+v 0.00543118 0.02334856 -0.05606302
+v 0.00455245 0.02403838 -0.05599271
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+v -0.00144449 0.03561447 -0.05404194
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+v 0.00455245 0.02334856 -0.05610356
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+v 0.00145186 0.02433278 -0.05604747
+v 0.00145186 0.02941304 -0.05516400
+v -0.00144449 0.03251290 -0.05464014
+v -0.00144449 0.02431396 -0.05603936
+v 0.00145186 0.02334856 -0.05619617
+v -0.00144449 0.02941304 -0.05517549
+v -0.00144449 0.03230578 -0.05467596
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+f 12 26 27
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+f 14 29 30
+f 14 30 15
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+f 15 31 16
+f 16 31 17
+f 17 32 33
+f 17 33 18
+f 17 31 32
+f 18 33 19
+f 28 35 29
+f 29 35 36
+f 29 36 37
+f 29 37 30
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+f 30 38 31
+f 31 38 39
+f 31 39 32
+f 34 40 37
+f 34 37 41
+f 36 41 37
+f 37 40 42
+f 37 42 43
+f 37 43 39
+f 37 39 38
+
diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_66.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d97c5741009d349362f036fb705c28cf49a75b9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_66.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.02052800 -0.02059452 -0.05460093
+v 0.02510318 -0.03933457 -0.05738727
+v 0.02052800 -0.03933459 -0.05249679
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+v 0.04010748 -0.02059451 -0.05738721
+v 0.03366642 -0.03933457 -0.05738727
+v 0.02052800 -0.03933460 -0.04987168
+v 0.02052800 -0.02090092 -0.04987162
+v 0.02074196 -0.02059454 -0.04988265
+v 0.04594400 -0.02059451 -0.05738721
+v 0.03482824 -0.03813658 -0.05738727
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+v 0.03216623 -0.03850720 -0.04987168
+v 0.03148951 -0.03914380 -0.04987168
+v 0.03106909 -0.03933460 -0.04987168
+v 0.02081659 -0.02059454 -0.04987162
+v 0.04477472 -0.02059454 -0.04987162
+v 0.04419256 -0.02273182 -0.04987162
+v 0.04495883 -0.02301247 -0.05738721
+v 0.03637070 -0.03644145 -0.05738726
+v 0.03757982 -0.03297784 -0.04987166
+v 0.04380445 -0.02349866 -0.04987163
+v 0.04372235 -0.02565423 -0.05738722
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+v 0.03658468 -0.03618829 -0.05738726
+v 0.03767435 -0.03487841 -0.05738726
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+v 0.04134893 -0.02968294 -0.05738724
+v 0.04288892 -0.02720811 -0.05738723
+v 0.03777884 -0.03474265 -0.05738726
+v 0.03934870 -0.03262556 -0.05738725
+v 0.03942581 -0.03251917 -0.05738725
+v 0.04122950 -0.02986088 -0.05738724
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+f 22 29 30
+f 22 30 23
+f 22 28 29
+f 27 31 28
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+f 28 32 33
+f 28 33 34
+f 28 34 29
+
diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_7.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b56d290aaa918794be5768eeb312bb77ef7e6ff
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_7.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
+v -0.05448324 -0.07678272 0.06244022
+v -0.05448324 -0.07618805 0.06531838
+v -0.05746327 -0.07507637 0.06469964
+v -0.05902970 -0.07448946 0.06422151
+v -0.05902970 -0.07448946 0.06417463
+v -0.05448324 -0.04911948 -0.01755756
+v -0.05448324 -0.07292693 0.06582465
+v -0.05746327 -0.07292693 0.06569341
+v -0.06026184 -0.07272871 0.06474652
+v -0.06231856 -0.07155876 0.06440902
+v -0.06231856 -0.07155875 0.06379964
+v -0.05448324 -0.04821383 -0.02004197
+v -0.08213135 -0.03707435 0.06545914
+v -0.08226506 -0.03881956 0.06577791
+v -0.06366532 -0.06672736 0.06589967
+v -0.06056429 -0.06982910 0.06582466
+v -0.05448324 -0.07043933 0.06484965
+v -0.08019878 -0.03707435 0.06467164
+v -0.06347748 -0.06968528 0.06491526
+v -0.06550555 -0.06855809 0.06448404
+v -0.06550555 -0.06855808 0.06365903
+v -0.05448324 -0.04796506 -0.02071698
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+v -0.07606302 -0.05122260 0.06585287
+v -0.08226506 -0.04192127 0.06559977
+v -0.06676633 -0.06362563 0.06588096
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+v -0.07981355 -0.03707435 0.06407163
+v -0.05448324 -0.06904003 0.06304026
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+v -0.05448324 -0.03707401 -0.02816078
+v -0.07453162 -0.05899247 0.06423093
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+v -0.05620567 -0.04383327 -0.02612640
+v -0.05497673 -0.04492939 -0.02702641
+v -0.05448324 -0.04500325 -0.02814205
+v -0.08390791 -0.04365094 0.06431536
+v -0.08700572 -0.03707434 0.06384665
+v -0.08695160 -0.03735420 0.06403414
+v -0.07804018 -0.05343811 0.06461532
+v -0.08074639 -0.04972614 0.06424973
+v -0.05448324 -0.03707400 -0.02987643
+v -0.08074639 -0.04972614 0.06410911
+v -0.07804018 -0.05343810 0.06336844
+v -0.05903608 -0.04040119 -0.02534825
+v -0.05744735 -0.04189374 -0.02676389
+v -0.05585226 -0.04339018 -0.02818892
+v -0.05448324 -0.04423752 -0.02980145
+v -0.08390791 -0.04365093 0.06379974
+v -0.06216575 -0.03707403 -0.02230132
+v -0.05448324 -0.04419864 -0.02987645
+v -0.05965373 -0.03707400 -0.02987643
+v -0.06199381 -0.03707403 -0.02288258
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+v -0.05968556 -0.03885031 -0.02654826
+v -0.05868905 -0.03990366 -0.02740141
+v -0.05666732 -0.04144286 -0.02987644
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+v -0.05875590 -0.03847326 -0.02987643
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+v -0.05841204 -0.03896689 -0.02987643
+v -0.05669280 -0.04140787 -0.02987644
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+
diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_8.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8b1765932c0e1502eab14494009685623fc2e5d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_8.obj
@@ -0,0 +1,418 @@
+# https://github.com/mikedh/trimesh
+v 0.03240242 0.05271598 -0.03088943
+v -0.00144118 0.06315067 -0.03088939
+v 0.03240242 0.05831004 -0.03088941
+v 0.03240242 0.08017559 0.05625073
+v -0.00144118 0.08698892 0.06032107
+v -0.00144118 0.06770776 -0.03088937
+v 0.03121301 0.05905537 -0.03088940
+v 0.03240242 0.05873940 -0.02990238
+v 0.03240242 0.08066168 0.05776418
+v 0.03240242 0.08125714 0.05955023
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diff --git a/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_9.obj b/dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/mjcf/mesh/metal_colander_collision_9.obj
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