diff --git a/.gitattributes b/.gitattributes
index eec37f0c2ea0d930c6965829de7663f4ee491b8f..8619042f4578e99ddf30c686e6491427f14e3ea5 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4578,7 +4578,6 @@ dataset/kitchen_supplies/utensils/ae0ae73ac64957eca8741a62233e2259/mesh/spatula_
 dataset/kitchen_supplies/utensils/ae0ae73ac64957eca8741a62233e2259/spatula_013.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/b1bd522f3e8a54c3b3e6bc37378ee2e8/mesh/spatula_026.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/b1bd522f3e8a54c3b3e6bc37378ee2e8/spatula_026.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/mesh/spice_jar_001.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/mesh/spice_jar_001.obj filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/mjcf/mesh/spice_jar_001.obj filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/spice_jar_001.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/b63f3cc2abb25bb8b8bc6d8d5c39206b.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mesh/utensil_holder.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mesh/utensil_holder_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/b63f3cc2abb25bb8b8bc6d8d5c39206b.urdf b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/b63f3cc2abb25bb8b8bc6d8d5c39206b.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f8497a732d64ef95dd78f02d766d9d31c120ca9e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/b63f3cc2abb25bb8b8bc6d8d5c39206b.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="utensil_holder">
+   <link name="utensil_holder">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/utensil_holder.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/utensil_holder_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000" />
+         <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>0.154446</scale>
+         <version>v0.1.7</version>
+         <category>utensil holder</category>
+         <description>cylindrical utensil holder with smooth surface and slightly flared rim</description>
+         <min_height>0.12</min_height>
+         <max_height>0.18</max_height>
+         <real_height>0.15</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <generate_time>20260120021223</generate_time>
+         <gs_model>mesh/utensil_holder_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.796912670135498</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/b63f3cc2abb25bb8b8bc6d8d5c39206b.usd b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/b63f3cc2abb25bb8b8bc6d8d5c39206b.usd
new file mode 100644
index 0000000000000000000000000000000000000000..1925dc3f70d90b2917777567f0048ba11e0dbe7f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/b63f3cc2abb25bb8b8bc6d8d5c39206b.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f795d2f588ee4063eea33f654f97b7faaa6e96e2c75ee1b36be5a3fd52ee8a15
+size 512096
diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mesh/material.mtl b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mesh/material_0.png b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc5c3ce71da1f99d0134ed90371f6abff754ee6f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:191de13614edd34bb2e4f9ec20c4cd971d7ef93b67b9b280395d02558d1f99e2
+size 1254182
diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mesh/utensil_holder.glb b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mesh/utensil_holder.glb
new file mode 100644
index 0000000000000000000000000000000000000000..dd1c1b7386037e616847bf0565c05bd3c4f3f600
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mesh/utensil_holder.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ed07c74b35124e6456ddcffe55fd313e73014991ae8103159897b98b238ecbf
+size 1604300
diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mesh/utensil_holder.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mesh/utensil_holder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72b8c52f1179dcd854a7a7cb2c06cbf4f034cae6
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mesh/utensil_holder.obj
@@ -0,0 +1,32000 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mesh/utensil_holder_collision.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mesh/utensil_holder_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..044cef38c2a71db1f0081db30a2ded83301a3672
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mesh/utensil_holder_collision.obj
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mesh/utensil_holder_gs.ply b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mesh/utensil_holder_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..3c6e0f499943849d708dd8de90a4bb81bee380dd
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mesh/utensil_holder_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e07153616c2853bf9ad85eae48a7f9c18aafe2e019fdb213e5f19582d01327f8
+size 9189962
diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/b63f3cc2abb25bb8b8bc6d8d5c39206b.xml b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/b63f3cc2abb25bb8b8bc6d8d5c39206b.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7871becf290e9104d2be3b2ae00e21aa1a2d3c7b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/b63f3cc2abb25bb8b8bc6d8d5c39206b.xml
@@ -0,0 +1,118 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="utensil_holder">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
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+    <mesh name="collision_mesh_0_45" file="mesh/utensil_holder_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+  </worldbody>
+</mujoco>
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc5c3ce71da1f99d0134ed90371f6abff754ee6f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:191de13614edd34bb2e4f9ec20c4cd971d7ef93b67b9b280395d02558d1f99e2
+size 1254182
diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3236c332c3002c9c705014f49b07493f660ac707
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder.obj
@@ -0,0 +1,32000 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2e8ffafe1e6061b1d07cde79f3c5fd738842b8e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision.obj
@@ -0,0 +1,36855 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_0.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4833c60a5b229740572d611cb142c0b4266da15
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_0.obj
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_1.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b098a0e34ac4c817554b2dbca86160adbe5dd98e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_1.obj
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_10.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31f07f8917eca64bb61c06d45eca00d1a95115f0
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_10.obj
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_11.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16148f4ca40746886235cf51d90da588c137b73b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_11.obj
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_12.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24b193d13eab4ac2892cc2a1d660258ead025e5c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_12.obj
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_13.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..615f8e2958f4fbac2274a88ad68335252b035335
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_13.obj
@@ -0,0 +1,457 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_14.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46fad264c019d2c0751fd42faa8addf77e798afe
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_14.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_15.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53fdf740c01fe6900670d18cc0d459e3c5135a99
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_15.obj
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_16.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..094a412fd77238b989d37fe5a250710cdad36eaf
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_16.obj
@@ -0,0 +1,469 @@
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_17.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..555f3ab748caad2ec8e09f87c0a6084e36911a84
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_17.obj
@@ -0,0 +1,649 @@
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_18.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8c88097368db274c9835d2f1adef1f3a8ce000f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_18.obj
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_19.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d360738dcd5d1681ee9d277c5ebb604814cb8a0
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_19.obj
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_2.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b76798eca7455b047bdaca78e25111e29681b5c7
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_2.obj
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_20.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d311b249b8c82256c7f0eea49125ef9742950e76
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_20.obj
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_21.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddba19eef483eb320f4adc92ab0e5e92768fb46a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_21.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_22.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12dd0dc4341d63d52d86c6bd243befa73e720b3b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_22.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_23.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ff41370473a48418ecb88de041d301d7990035d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_23.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.00108700 0.06747455 -0.06086708
+v 0.00363428 0.06741898 -0.06086708
+v 0.00108700 0.06721864 -0.06219404
+v -0.00146029 0.06720841 -0.06219404
+v -0.00146029 0.06746285 -0.06086708
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+v -0.00146029 0.06670682 -0.06473395
+v -0.00400988 0.06711481 -0.06219404
+v -0.00279282 0.06741605 -0.06086708
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+v 0.00363428 0.06663809 -0.06473396
+v 0.00108700 0.06627836 -0.06687072
+v 0.00873346 0.06701536 -0.06086708
+v -0.00146029 0.06627543 -0.06687072
+v -0.00168661 0.06626666 -0.06687072
+v -0.00400988 0.06660592 -0.06473396
+v -0.00655947 0.06693202 -0.06219404
+v -0.00534010 0.06727859 -0.06086708
+v -0.00400988 0.06737072 -0.06086708
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+v 0.00618387 0.06648893 -0.06473396
+v 0.00873346 0.06674776 -0.06219404
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+v 0.00363428 0.06618915 -0.06687072
+v 0.01099438 0.06667756 -0.06086709
+v -0.00392212 0.06617453 -0.06687072
+v -0.00400988 0.06618184 -0.06681784
+v -0.00655947 0.06608678 -0.06635416
+v -0.00789662 0.06602243 -0.06604740
+v -0.00788969 0.06703437 -0.06086708
+v -0.00655947 0.06719085 -0.06086708
+v 0.00863647 0.06622424 -0.06475394
+v 0.00941936 0.06593030 -0.06561370
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+v 0.00618387 0.06602829 -0.06687072
+v 0.00618387 0.06611749 -0.06647405
+v 0.01099438 0.06638363 -0.06231335
+v 0.01061563 0.06611017 -0.06392003
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+v -0.00400988 0.06617014 -0.06687072
+v -0.00655947 0.06597857 -0.06687072
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+v -0.00910675 0.06688667 -0.06086708
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+v 0.01099438 0.06621107 -0.06315078
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+v -0.01259859 0.05594815 -0.06086712
+v -0.01259859 0.05253646 -0.06687077
+v -0.01164711 0.06526640 -0.06687072
+v -0.01069101 0.06606776 -0.06373962
+v -0.01162401 0.06647282 -0.06086709
+v -0.01259859 0.06627394 -0.06086709
+v -0.01259859 0.06507775 -0.06687072
+v -0.01206280 0.06518451 -0.06687072
+v -0.01239074 0.06591567 -0.06297154
+v -0.01158706 0.06572557 -0.06464522
+v -0.01259859 0.06595662 -0.06256135
+v -0.01259859 0.06613795 -0.06161990
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+
diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_24.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21d4449d9eac06b84c4a320a59898568c91da80b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_24.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.02951500 -0.06165778 -0.06080213
+v -0.03068509 -0.06113351 -0.06080212
+v -0.02951500 -0.06139879 -0.06219478
+v -0.02951500 -0.04954572 -0.06080208
+v -0.03039677 -0.06099769 -0.06219477
+v -0.03198944 -0.06048290 -0.06080212
+v -0.03205199 -0.06018285 -0.06219477
+v -0.02951500 -0.06090925 -0.06473431
+v -0.02951500 -0.04402816 -0.06686596
+v -0.02980790 -0.04240795 -0.06686596
+v -0.04016181 -0.03238984 -0.06686592
+v -0.04276592 -0.02989795 -0.06686591
+v -0.04509848 -0.03681464 -0.06080204
+v -0.02986435 -0.06074502 -0.06473431
+v -0.03287426 -0.06002179 -0.06080212
+v -0.03415725 -0.05908692 -0.06219477
+v -0.03368280 -0.05882793 -0.06473431
+v -0.03340210 -0.05867318 -0.06621482
+v -0.03253254 -0.05898900 -0.06686602
+v -0.03205199 -0.05966804 -0.06473431
+v -0.02951500 -0.06062184 -0.06616792
+v -0.02951500 -0.06047971 -0.06686602
+v -0.04509848 -0.02939578 -0.06686591
+v -0.04509848 -0.05192708 -0.06080209
+v -0.03214505 -0.05918797 -0.06686602
+v -0.03449592 -0.05917536 -0.06080212
+v -0.03568432 -0.05852160 -0.06080211
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+v -0.03430980 -0.05803203 -0.06686601
+v -0.03409317 -0.05815205 -0.06686601
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+v -0.04493525 -0.05178179 -0.06203387
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+v -0.03596502 -0.05835421 -0.06080211
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+
diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_25.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71e3af18c223ef4d0e37f85e3728d5e027d9303d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_25.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
+v 0.03622088 -0.03874125 -0.06686484
+v 0.02330670 -0.04772921 -0.06686488
+v 0.02330670 -0.05234977 -0.06086890
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+v 0.02330670 -0.06409218 -0.06086895
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+v 0.02399541 -0.06254618 -0.06686493
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+v 0.02363623 -0.06397556 -0.06086894
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_26.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be4754c7aaaaa1ba900f5b00680a374b80319bcd
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_26.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_27.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9661f21fa8a1bcd1f96bbbf01b427bfeecfc7f78
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_27.obj
@@ -0,0 +1,853 @@
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_28.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..784c804b7eb9007b67441bb2dd45ce89b4383b06
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_28.obj
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_29.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a53b2a33b32ad9225c66d93a927bfabfe9c859b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_29.obj
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_3.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1489fc52749cc91cd492f1dcd179be2ff9e3def
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_3.obj
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_30.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6695fa37bd0336e22fdcbfb40ab66e8383f1dda
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_30.obj
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_31.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edb4c8fd1ffa4d2d74fb7312f8b37626b5caaed3
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_31.obj
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_32.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a893f4c4735f7d19b87aa8876efac0aad38bfda9
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_32.obj
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_33.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5da60dab10275350ca7ae2c8f40451171e3155c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_33.obj
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_34.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7b266263857f713dea1585fce852f8533edb17a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_34.obj
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_35.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b01f18598f392ea8430b1aa0d61588494311a6f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_35.obj
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_36.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecb8d5787030724c50376f926f21e56bd3374b7a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_36.obj
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_37.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64483c82ff64268ee430f048f7cc2a7051967417
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_37.obj
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_38.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c30c25e4659ce333252ddfc6156b6192ed06609d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_38.obj
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_39.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66c6a15faffc5917d1bdf1341d3fbb7a72ab3332
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_39.obj
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_4.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51da0c02b03b4cc7f98530ff7dfdb68a146ee0d3
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_4.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_40.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e245301ce62289996f9a71512388c48c3d947a8c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_40.obj
@@ -0,0 +1,325 @@
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_41.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0db1c6d7e94c780f8766ed5b72508773ebbcc996
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_41.obj
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_42.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6309577234a65d0af017dfe1da20822a68896f4b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_42.obj
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_43.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3562c5919c1dfa4c26b6dd53a0a37fb931711ce
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_43.obj
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_44.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08d296b9be0959d6b30b28908c6c4943900ac65d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_44.obj
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_45.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00b90959daac155e784d3e3429600be05b0cdf36
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_45.obj
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_46.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c883c6016b7e20c5bacf13feaac3c469b900ba82
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_46.obj
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_47.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3247219dc2369bca34d0b7c8226524f1de494879
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_47.obj
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_48.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8f7def1bd986ce8f262610e2fb9791784715f19
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_48.obj
@@ -0,0 +1,415 @@
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_49.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27715bf03976cc28ee98f3cbcd2f26645c22f050
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_49.obj
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_5.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa91c31a53509f7cc55ecc88cf6c69d1ba58c0bd
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_5.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_50.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3f70e82f93fae76d910f3e9c62a289c74a0d6d9
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_50.obj
@@ -0,0 +1,1141 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_51.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b18864eb71c9d0ea8ee51871a44c0f00bc4152c3
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_51.obj
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_6.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0540b4dc6acc9235da79f5597e8e05ae1f71920f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_6.obj
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_7.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..704cf9a6d2109f43c65ded3672724e6f828212eb
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_7.obj
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_8.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf67d5ea05a3f59c6664ec7746a817fee6297009
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_8.obj
@@ -0,0 +1,319 @@
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diff --git a/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_9.obj b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c07d6c74d5f0531bc1b3b1d2461de3b453bc7c4
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b63f3cc2abb25bb8b8bc6d8d5c39206b/mjcf/mesh/utensil_holder_collision_9.obj
@@ -0,0 +1,838 @@
+# https://github.com/mikedh/trimesh
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