diff --git a/.gitattributes b/.gitattributes
index 24012760010ce5a514dac82c754a65a63c143e4c..c4039af450887925bd8d474c11b07810dcf50ddf 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4530,5 +4530,6 @@ dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/6f7beae1fb2e5
dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/6cb06041371650eb93688f2862e66490.usd filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mesh/utensil_holder.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mesh/utensil_holder_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mesh/spice_jar_003.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/spice_jar_003.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/74075ca6ed8d554ababc3d323d3f2a0b.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mesh/utensil_holder.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mesh/utensil_holder_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/74075ca6ed8d554ababc3d323d3f2a0b.urdf b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/74075ca6ed8d554ababc3d323d3f2a0b.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2912af01ba54fe1ab3d672bba173f9e0c6cde2c2
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/74075ca6ed8d554ababc3d323d3f2a0b.urdf
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+ utensil holder
+ wireframe rectangular basket with handle, suitable for holding utensils
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+ 0.2
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+ 0.4
+ 0.8
+ 20260120020456
+ mesh/utensil_holder_gs.ply
+
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+ NO: part number exceeds palette size 20
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diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/74075ca6ed8d554ababc3d323d3f2a0b.usd b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/74075ca6ed8d554ababc3d323d3f2a0b.usd
new file mode 100644
index 0000000000000000000000000000000000000000..073ada57c008fade6f773bda821b0cc34ebf1487
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/74075ca6ed8d554ababc3d323d3f2a0b.usd
@@ -0,0 +1,3 @@
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+oid sha256:5e4a998c69162aae85284753d4ee580b435aff759cf27ad6f336f76a4cc86790
+size 379818
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mesh/material.mtl b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mesh/material_0.png b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mesh/utensil_holder.glb b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mesh/utensil_holder.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3c388366d32cd6e4c63f57d205c7280d728ff1ea
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mesh/utensil_holder.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a48c7f044710235947af08e4911077138c96de508fab698e2ddbc0de06fadb1
+size 4107740
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mesh/utensil_holder.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mesh/utensil_holder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a99c60c2745e2af1aed930d64392d44053b8191
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mesh/utensil_holder.obj
@@ -0,0 +1,27858 @@
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+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mesh/utensil_holder_collision.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mesh/utensil_holder_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80f570a7a1209578baa74a86aeb85b547cd57a8a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mesh/utensil_holder_collision.obj
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diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mesh/utensil_holder_gs.ply b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mesh/utensil_holder_gs.ply
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diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e38386efbb44711b67998bb4c436c20fb1659a73
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision.obj
@@ -0,0 +1,16572 @@
+# https://github.com/mikedh/trimesh
+
+o utensil_holder_collision.obj
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diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_0.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f90b0fa8f825e7c9f52133ed4ae943e722f8acfc
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_0.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_1.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0311b4c283789cc0dd2a09a2b4bbaa29181a1dc4
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_1.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_10.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2f4750bec021a1be5d154293973c2a320e0f62f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_10.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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+v 0.12082755 0.07872945 -0.06268981
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+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_11.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d10ded4f8249e7eed1c32a788d648186dd51b6c0
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_11.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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+v -0.06865704 -0.10461748 0.03114271
+v -0.07606506 -0.10677484 0.03671340
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+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_12.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5f21b1b2442c710313d065131c56609c3fb994a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_12.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+v -0.09781406 -0.07072444 -0.07626647
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+v -0.12515754 -0.06726111 -0.08127567
+v -0.12516289 -0.00803869 -0.08011720
+v -0.10977900 0.00199704 -0.08454725
+v -0.10950592 0.00199704 -0.08461488
+v -0.10893030 0.00199702 -0.07881378
+v -0.12516289 -0.00686589 -0.07583789
+v -0.12516289 -0.00692886 -0.07641842
+v -0.10982988 0.00199704 -0.08426402
+v -0.10976295 0.00199703 -0.08049620
+v -0.10985397 0.00199703 -0.08070333
+f 1 2 5
+f 1 5 13
+f 1 13 17
+f 1 17 38
+f 1 38 28
+f 1 28 11
+f 1 11 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 5
+f 3 8 9
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+f 3 10 4
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+f 4 12 6
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+f 20 42 51
+f 20 51 52
+f 20 52 47
+f 20 47 45
+f 20 45 27
+f 20 27 21
+f 20 39 42
+f 22 43 44
+f 22 44 23
+f 22 27 43
+f 27 45 43
+f 31 44 43
+f 31 43 46
+f 31 46 32
+f 32 34 33
+f 32 46 45
+f 32 45 47
+f 32 47 48
+f 32 48 35
+f 32 35 34
+f 35 48 49
+f 35 49 36
+f 36 49 48
+f 36 48 53
+f 36 53 55
+f 36 55 54
+f 36 54 50
+f 36 50 39
+f 38 39 41
+f 38 41 40
+f 39 50 51
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+f 43 45 46
+f 47 52 48
+f 48 52 53
+f 50 54 51
+f 51 54 55
+f 51 55 53
+f 51 53 52
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_13.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de503d71948817ea3d1c88029c3597c58aba338f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_13.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.06732020 0.09381483 -0.08108470
+v -0.06682907 0.09381481 -0.07615783
+v -0.06569021 0.09381483 -0.08281498
+v -0.08409697 0.09121273 -0.08087559
+v -0.08409697 0.09097662 -0.07579845
+v -0.08409697 0.08885706 -0.07355326
+v -0.08409697 0.08870659 -0.07341865
+v -0.04188813 0.09381481 -0.07498688
+v -0.06499266 0.09381484 -0.08345534
+v -0.08409697 0.09087547 -0.08140227
+v -0.08409697 0.08855871 -0.07334678
+v -0.02212899 0.09381481 -0.07522865
+v -0.08409697 0.08586840 -0.07223987
+v -0.06352639 0.09381484 -0.08345534
+v -0.04188813 0.08629391 -0.08482365
+v -0.08409697 0.08641584 -0.08471649
+v -0.08409697 0.08874553 -0.08300318
+v -0.01138104 0.06731383 -0.07627161
+v -0.01718921 0.08629388 -0.07564687
+v -0.01138104 0.08629388 -0.07603762
+v -0.01764475 0.09381481 -0.07608072
+v -0.08409697 0.08326889 -0.07228824
+v -0.01932456 0.09381484 -0.08333511
+v -0.01138104 0.08135691 -0.08559079
+v -0.08409697 0.08135691 -0.08548363
+v -0.08409697 0.08453496 -0.08501577
+v -0.01138104 0.06731384 -0.08022095
+v -0.08409697 0.06732161 -0.07628077
+v -0.08139218 0.06731902 -0.07628207
+v -0.01138104 0.08691911 -0.07631729
+v -0.01728174 0.09381482 -0.07796391
+v -0.01138104 0.08947452 -0.07761368
+v -0.01748104 0.09381483 -0.08088214
+v -0.01138104 0.08843681 -0.08228572
+v -0.01138104 0.08596702 -0.08466944
+v -0.05175347 0.06731903 -0.08023010
+v -0.06163304 0.06731903 -0.08023140
+v -0.08139218 0.06731903 -0.08023140
+v -0.08409697 0.06732162 -0.08023140
+v -0.01138104 0.08947452 -0.07984972
+f 1 2 8
+f 1 8 12
+f 1 12 21
+f 1 21 31
+f 1 31 33
+f 1 33 23
+f 1 23 14
+f 1 14 9
+f 1 9 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 3 9 4
+f 4 10 17
+f 4 17 16
+f 4 16 26
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+f 4 28 22
+f 4 22 13
+f 4 13 11
+f 4 11 7
+f 4 7 6
+f 4 6 5
+f 4 9 10
+f 7 11 8
+f 8 11 13
+f 8 13 12
+f 9 14 15
+f 9 15 16
+f 9 16 17
+f 9 17 10
+f 12 18 19
+f 12 19 20
+f 12 20 21
+f 12 13 22
+f 12 22 18
+f 14 23 15
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 16
+f 18 27 24
+f 18 24 35
+f 18 35 34
+f 18 34 40
+f 18 40 32
+f 18 32 30
+f 18 30 20
+f 18 20 19
+f 18 22 28
+f 18 28 29
+f 18 29 38
+f 18 38 27
+f 20 30 21
+f 21 30 32
+f 21 32 31
+f 23 33 34
+f 23 34 35
+f 23 35 24
+f 24 27 36
+f 24 36 37
+f 24 37 38
+f 24 38 39
+f 24 39 25
+f 27 38 37
+f 27 37 36
+f 28 39 38
+f 28 38 29
+f 31 32 40
+f 31 40 33
+f 33 40 34
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_14.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92bb6f42cec69a1ecb89a9c4f104ac36d52479bf
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_14.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.01138104 -0.06390007 -0.07917938
+v -0.01225246 -0.06390359 -0.07917192
+v -0.01138104 -0.06390008 -0.07750602
+v -0.01138104 -0.06676400 -0.08098943
+v -0.09781271 -0.06656866 -0.08074888
+v -0.04683021 -0.06405255 -0.07886976
+v -0.01225246 -0.06390360 -0.07751298
+v -0.04683021 -0.06676402 -0.07595892
+v -0.04188932 -0.06676402 -0.07594847
+v -0.01138104 -0.06625882 -0.07618752
+v -0.04683021 -0.06405255 -0.07774558
+v -0.04188932 -0.06403217 -0.07770929
+v -0.09781271 -0.06665089 -0.07623722
+v -0.01138104 -0.07027717 -0.08007995
+v -0.09781271 -0.07107817 -0.08049395
+v -0.09781271 -0.06840746 -0.08074889
+v -0.07469884 -0.06428582 -0.07824356
+v -0.07469884 -0.06428582 -0.07830170
+v -0.06656837 -0.06421977 -0.07848957
+v -0.06162748 -0.06417832 -0.07859592
+v -0.05668660 -0.06413616 -0.07869482
+v -0.05175417 -0.06409400 -0.07878577
+v -0.09781271 -0.07073671 -0.07626507
+v -0.01138104 -0.06676402 -0.07591220
+v -0.05175417 -0.06409400 -0.07781813
+v -0.06162748 -0.06417832 -0.07798016
+v -0.06656837 -0.06421977 -0.07807409
+v -0.05668660 -0.06413616 -0.07789617
+v -0.01138104 -0.07027718 -0.07667806
+v -0.09781271 -0.07107818 -0.07772571
+v -0.06656837 -0.07044793 -0.07638236
+v -0.01225246 -0.07028140 -0.07667310
+v -0.01719335 -0.07030108 -0.07664178
+v -0.02213424 -0.07031653 -0.07661445
+v -0.01138104 -0.06966449 -0.07653841
+f 1 2 7
+f 1 7 3
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+f 1 24 35
+f 1 35 29
+f 1 29 14
+f 1 14 4
+f 1 4 5
+f 1 5 2
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+f 2 11 7
+f 2 5 6
+f 3 8 9
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+f 5 20 21
+f 5 21 22
+f 5 22 6
+f 6 22 18
+f 6 18 17
+f 6 17 11
+f 8 13 23
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+f 9 24 10
+f 9 23 24
+f 11 17 25
+f 11 25 13
+f 11 13 12
+f 13 26 27
+f 13 27 17
+f 13 25 28
+f 13 28 26
+f 14 29 30
+f 14 30 15
+f 17 27 26
+f 17 26 28
+f 17 28 25
+f 18 22 21
+f 18 21 20
+f 18 20 19
+f 23 31 24
+f 23 30 29
+f 23 29 32
+f 23 32 33
+f 23 33 34
+f 23 34 31
+f 24 31 34
+f 24 34 35
+f 29 35 33
+f 29 33 32
+f 33 35 34
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_15.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb33adcc6830fe0fb65f15b270fe43da3bdb23bf
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_15.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.12262346 -0.00809611 -0.06962435
+v 0.12415217 -0.00627677 -0.06609073
+v 0.12526848 -0.00584748 -0.06962434
+v 0.12262346 -0.01067075 -0.06962436
+v 0.12841832 -0.00492126 -0.01873005
+v 0.12825954 -0.00474630 -0.02225342
+v 0.12803200 -0.00454073 -0.02711854
+v 0.12779499 -0.00437340 -0.03199390
+v 0.12701049 -0.00422034 -0.05635024
+v 0.12679718 -0.00427674 -0.06121537
+v 0.12662180 -0.00448896 -0.06609073
+v 0.12760065 -0.00426248 -0.03685903
+v 0.12747977 -0.00421944 -0.04173439
+v 0.12719773 -0.00478149 -0.06962434
+v 0.12841596 -0.01008773 -0.02361567
+v 0.12872643 -0.00943572 -0.02036883
+v 0.12841832 -0.00614501 -0.01873005
+v 0.12337951 -0.01089924 -0.06962436
+v 0.14098217 -0.01193695 0.03501160
+v 0.13309451 -0.01027619 0.00696802
+v 0.13329597 -0.01011845 0.01006121
+v 0.13317746 -0.00471967 0.01562283
+v 0.13283144 -0.00439363 0.01183316
+v 0.13248777 -0.00414601 0.00696804
+v 0.13221284 -0.00399398 0.00209268
+v 0.13195450 -0.00390696 -0.00277244
+v 0.12720721 -0.00420793 -0.05147488
+v 0.14038490 -0.00269196 0.03501163
+v 0.12972661 -0.00427674 -0.06121537
+v 0.14575790 -0.00255811 0.03501163
+v 0.12930474 -0.00448896 -0.06609073
+v 0.13592677 -0.00323490 0.01183317
+v 0.12886865 -0.00478149 -0.06962434
+v 0.13212277 -0.00751417 0.00696803
+v 0.13317746 -0.00600842 0.01562283
+v 0.12605060 -0.01127497 -0.06962436
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+v 0.13824234 -0.01009462 0.02960364
+v 0.13754554 -0.00775135 0.03126291
+v 0.13285988 -0.00759831 0.01174097
+v 0.13797216 -0.00440998 0.03501162
+v 0.13744836 -0.00397401 0.03132438
+v 0.14683629 -0.00751427 0.03501161
+v 0.13037128 -0.00751390 -0.06609074
+v 0.12955597 -0.00741062 -0.06962435
+v 0.13797453 -0.00631251 0.03501162
+v 0.13797216 -0.00619014 0.03501162
+v 0.12702471 -0.01119275 -0.06962436
+v 0.14559200 -0.01231937 0.03501159
+v 0.12958678 -0.01081226 -0.06609075
+v 0.13853150 -0.00775137 0.03501161
+v 0.14683392 -0.00760605 0.03501161
+v 0.12946117 -0.00967933 -0.06962436
+v 0.12924549 -0.01058662 -0.06962436
+f 1 2 3
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+f 1 14 33
+f 1 33 46
+f 1 46 54
+f 1 54 55
+f 1 55 49
+f 1 49 36
+f 1 36 18
+f 1 18 4
+f 1 4 17
+f 1 17 5
+f 1 5 6
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+f 1 8 2
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+f 2 11 3
+f 2 8 12
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+f 4 15 16
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+f 15 34 16
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+f 18 36 19
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+f 22 35 48
+f 22 48 42
+f 22 42 43
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+f 27 32 28
+f 28 43 42
+f 29 30 31
+f 30 44 45
+f 30 45 33
+f 30 33 31
+f 33 45 46
+f 34 41 35
+f 35 40 47
+f 35 47 48
+f 36 49 37
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+f 39 52 40
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+f 44 53 45
+f 45 54 46
+f 45 53 54
+f 49 55 51
+f 50 51 55
+f 50 55 53
+f 53 55 54
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_16.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..736e901eae2be06627a7c06ec20d87cc389d95f1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_16.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.10135371 0.09129771 -0.07512537
+v 0.09680588 0.09129771 -0.07627504
+v 0.10504972 0.09129771 -0.07689409
+v 0.10394513 0.09856735 0.00047638
+v 0.10361735 0.09856735 0.00047638
+v 0.09653667 0.09129771 -0.07641875
+v 0.10487504 0.09129773 -0.08058630
+v 0.10553163 0.10110656 -0.06609381
+v 0.10658793 0.10110818 -0.03685466
+v 0.10669582 0.10110816 -0.03197962
+v 0.10667013 0.10110814 -0.02711564
+v 0.10659101 0.10110812 -0.02225166
+v 0.10646257 0.10110810 -0.01738768
+v 0.10629817 0.10110809 -0.01252370
+v 0.10608341 0.10110807 -0.00764866
+v 0.10499629 0.10248220 0.02988138
+v 0.10390300 0.10237226 0.02988138
+v 0.10135474 0.10212833 0.02988138
+v 0.09619861 0.09129773 -0.08120535
+v 0.09854240 0.10322088 0.02988138
+v 0.10484627 0.09129773 -0.08089582
+v 0.10478564 0.09986116 -0.07583283
+v 0.10502095 0.10132818 -0.07065932
+v 0.10395233 0.10366100 -0.06884638
+v 0.10405097 0.10372456 -0.06609380
+v 0.10518228 0.10451461 -0.02225165
+v 0.10526550 0.10466404 -0.01738767
+v 0.10534359 0.10480661 -0.01252369
+v 0.10542066 0.10494746 -0.00764864
+v 0.10548744 0.10508658 -0.00278466
+v 0.10552752 0.10524460 0.00209037
+v 0.10549773 0.10604330 0.02988139
+v 0.10539702 0.10494559 0.02988139
+v 0.09619861 0.09129773 -0.08122745
+v 0.09854240 0.10370360 0.02988138
+v 0.09859069 0.10566537 0.02988139
+v 0.10449178 0.09617124 -0.07955822
+v 0.10222403 0.09129773 -0.08287457
+v 0.10418454 0.09907783 -0.07868490
+v 0.10355467 0.10366100 -0.06884638
+v 0.10384341 0.10852563 0.01898166
+v 0.10396876 0.10862009 0.02157947
+v 0.10415886 0.10876437 0.02644345
+v 0.10432326 0.10884682 0.02988140
+v 0.10135371 0.10049677 -0.07583283
+v 0.10468393 0.10803771 0.02988140
+v 0.09623047 0.09129773 -0.08124957
+v 0.09840573 0.09964297 -0.07095779
+v 0.09851158 0.09927538 -0.07583284
+v 0.09875612 0.09878752 -0.07844170
+v 0.09958534 0.10775428 0.02988140
+v 0.10135371 0.09129774 -0.08305145
+v 0.10135371 0.09241604 -0.08271981
+v 0.10135371 0.09617125 -0.08073000
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+v 0.10336560 0.10372456 -0.06609380
+v 0.09993470 0.10796042 0.02988140
+v 0.10171848 0.10879357 0.02988140
+v 0.10261346 0.10876437 0.02644345
+v 0.10334813 0.10862009 0.02157947
+v 0.10376531 0.10852563 0.01898166
+v 0.09625923 0.09129773 -0.08126062
+f 1 2 6
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+f 9 28 29
+f 9 29 30
+f 9 30 31
+f 9 31 10
+f 9 25 26
+f 10 31 32
+f 10 32 11
+f 11 32 12
+f 12 32 13
+f 13 32 33
+f 13 33 14
+f 14 33 16
+f 14 16 15
+f 16 33 32
+f 16 32 46
+f 16 46 44
+f 16 44 60
+f 16 60 59
+f 16 59 51
+f 16 51 36
+f 16 36 35
+f 16 35 20
+f 16 20 18
+f 16 18 17
+f 19 20 35
+f 19 35 36
+f 19 36 34
+f 21 37 22
+f 21 38 37
+f 22 24 23
+f 22 37 39
+f 22 39 24
+f 24 40 63
+f 24 63 41
+f 24 41 42
+f 24 42 43
+f 24 43 44
+f 24 44 25
+f 24 39 45
+f 24 45 40
+f 25 44 26
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+f 27 44 28
+f 28 44 29
+f 29 44 30
+f 30 44 31
+f 31 44 46
+f 31 46 32
+f 34 36 48
+f 34 48 49
+f 34 49 50
+f 34 50 47
+f 36 51 48
+f 37 38 39
+f 38 52 53
+f 38 53 39
+f 39 53 54
+f 39 54 55
+f 39 55 45
+f 40 56 57
+f 40 57 58
+f 40 58 51
+f 40 51 59
+f 40 59 60
+f 40 60 61
+f 40 61 62
+f 40 62 63
+f 40 45 50
+f 40 50 49
+f 40 49 56
+f 41 63 62
+f 41 62 42
+f 42 62 61
+f 42 61 43
+f 43 61 44
+f 44 61 60
+f 45 55 50
+f 47 50 53
+f 47 53 64
+f 48 57 49
+f 48 51 57
+f 49 57 56
+f 50 55 54
+f 50 54 53
+f 51 58 57
+f 52 64 53
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_17.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db16641a2c5ac73e6a2970eb34dd04bc96190cf7
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_17.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.08498673 -0.10942042 0.01670661
+v 0.08224190 -0.10942042 0.01670661
+v 0.08491436 -0.10938016 0.01183195
+v 0.08619441 -0.10626154 0.01670662
+v 0.08626463 -0.10626156 0.02158127
+v 0.08496296 -0.10937465 0.02158126
+v 0.08226675 -0.10938016 0.01183195
+v 0.08236073 -0.10937465 0.02158126
+v 0.07977901 -0.10783397 -0.00278132
+v 0.08014412 -0.10812125 -0.00764527
+v 0.08481929 -0.10931075 0.00696800
+v 0.08463134 -0.10463047 -0.06121294
+v 0.08463134 -0.10257914 -0.06121294
+v 0.08549767 -0.10251561 0.02729160
+v 0.08609071 -0.10558983 0.02729159
+v 0.08619873 -0.10626158 0.02644522
+v 0.08467887 -0.10243203 -0.05634899
+v 0.08495649 -0.10216564 -0.03198641
+v 0.08502022 -0.10224061 -0.02713317
+v 0.08478149 -0.10922200 0.02644521
+v 0.08230780 -0.10931075 0.00696800
+v 0.08227214 -0.10921913 0.00209334
+v 0.08276689 -0.10922200 0.02644521
+v 0.08049951 -0.10624493 0.02729159
+v 0.08000909 -0.10626156 0.02158127
+v 0.07843090 -0.10571043 -0.01251992
+v 0.07825590 -0.10571042 -0.01739458
+v 0.07796100 -0.10520090 -0.06121295
+v 0.08224730 -0.10911502 -0.00278132
+v 0.08470480 -0.10921913 0.00209334
+v 0.08159701 -0.10603781 -0.06121295
+v 0.08442070 -0.10430429 -0.06608760
+v 0.08455681 -0.10911502 -0.00278132
+v 0.08436129 -0.10897621 -0.00764527
+v 0.08418953 -0.10883741 -0.01106289
+v 0.08442070 -0.10283032 -0.06608760
+v 0.08109039 -0.09524258 -0.07583689
+v 0.08468427 -0.10249479 0.02729160
+v 0.08614797 -0.10626158 0.02729159
+v 0.08497485 -0.10871263 0.02729158
+v 0.08471668 -0.10917481 0.02729158
+v 0.08289111 -0.10917481 0.02729158
+v 0.08164238 -0.10249479 0.02729160
+v 0.07911575 -0.10377716 0.01043921
+v 0.07911575 -0.10391040 0.01043921
+v 0.07522913 -0.09524258 -0.07701538
+v 0.07816840 -0.10554385 -0.02225852
+v 0.07522913 -0.09524258 -0.07706894
+v 0.07798692 -0.10500657 -0.06608761
+v 0.08261241 -0.10897621 -0.00764527
+v 0.08159701 -0.10551733 -0.06608761
+v 0.08331887 -0.10883741 -0.01106289
+v 0.08418305 -0.10396008 -0.06894811
+v 0.08418305 -0.10326196 -0.06894811
+v 0.08063993 -0.09524256 -0.08078654
+v 0.07681381 -0.09524258 -0.07615829
+v 0.07618296 -0.09524258 -0.07622257
+v 0.07729451 -0.10139102 -0.07559050
+v 0.07537497 -0.09524257 -0.07943664
+v 0.07834448 -0.10449302 -0.07096226
+v 0.07882085 -0.10401557 -0.07380134
+v 0.07975956 -0.10401557 -0.07380134
+v 0.08148143 -0.10445277 -0.07072656
+v 0.08010307 -0.09978936 -0.07925453
+v 0.08051679 -0.09618494 -0.08080797
+v 0.07994536 -0.09524256 -0.08215788
+v 0.07760021 -0.09978936 -0.07925453
+v 0.07749758 -0.09524256 -0.08183647
+v 0.07645626 -0.09602811 -0.08042228
+v 0.07950463 -0.09524256 -0.08215788
+f 1 2 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 2 10 7
+f 3 7 21
+f 3 21 11
+f 3 11 4
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 5 13 17
+f 5 17 18
+f 5 18 19
+f 5 19 14
+f 6 16 20
+f 6 20 23
+f 6 23 8
+f 7 10 22
+f 7 22 21
+f 8 23 24
+f 8 24 25
+f 8 25 9
+f 9 25 26
+f 9 26 27
+f 9 27 28
+f 9 28 10
+f 10 29 22
+f 10 28 29
+f 11 21 22
+f 11 22 30
+f 11 30 12
+f 12 31 32
+f 12 32 36
+f 12 36 13
+f 12 30 33
+f 12 33 34
+f 12 34 35
+f 12 35 31
+f 13 36 37
+f 13 37 17
+f 14 38 43
+f 14 43 24
+f 14 24 42
+f 14 42 41
+f 14 41 40
+f 14 40 39
+f 14 39 15
+f 14 19 18
+f 14 18 37
+f 14 37 38
+f 15 39 16
+f 16 39 40
+f 16 40 20
+f 17 37 18
+f 20 40 41
+f 20 41 42
+f 20 42 23
+f 22 29 33
+f 22 33 30
+f 23 42 24
+f 24 43 44
+f 24 44 25
+f 25 44 45
+f 25 45 26
+f 26 45 46
+f 26 46 27
+f 27 47 28
+f 27 46 47
+f 28 46 48
+f 28 48 49
+f 28 49 29
+f 28 47 46
+f 29 49 50
+f 29 50 34
+f 29 34 33
+f 31 49 51
+f 31 51 32
+f 31 35 52
+f 31 52 50
+f 31 50 49
+f 32 51 53
+f 32 53 54
+f 32 54 36
+f 34 50 52
+f 34 52 35
+f 36 54 55
+f 36 55 37
+f 37 55 66
+f 37 66 70
+f 37 70 68
+f 37 68 59
+f 37 59 48
+f 37 48 46
+f 37 46 57
+f 37 57 56
+f 37 56 43
+f 37 43 38
+f 43 56 57
+f 43 57 46
+f 43 46 44
+f 44 46 45
+f 48 58 49
+f 48 59 58
+f 49 60 51
+f 49 58 60
+f 51 60 61
+f 51 61 62
+f 51 62 63
+f 51 63 53
+f 53 63 62
+f 53 62 64
+f 53 64 65
+f 53 65 55
+f 53 55 54
+f 55 65 66
+f 58 59 67
+f 58 67 61
+f 58 61 60
+f 59 68 69
+f 59 69 67
+f 61 67 64
+f 61 64 62
+f 64 67 70
+f 64 70 66
+f 64 66 65
+f 67 69 68
+f 67 68 70
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_18.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19a5f83e4622cba6788380f5425f583e89cc0233
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_18.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.12110921 0.06586407 -0.07583484
+v 0.12448404 0.06769971 -0.07583483
+v 0.12502857 0.06715489 -0.07096647
+v 0.12110921 0.06622996 -0.07096648
+v 0.11114777 0.06601045 -0.08070319
+v 0.11617262 0.06614869 -0.08070528
+v 0.12075318 0.06766924 -0.08042457
+v 0.12448404 0.07036678 -0.07583482
+v 0.12615501 0.08135620 -0.06609388
+v 0.12383181 0.06856367 -0.07861465
+v 0.12643026 0.08135619 -0.06268980
+v 0.12455735 0.06783588 -0.06735501
+v 0.12110921 0.06795582 -0.06741366
+v 0.11114777 0.06747407 -0.07721322
+v 0.11114777 0.06603078 -0.08078698
+v 0.11114777 0.06750459 -0.08408841
+v 0.11617262 0.06807378 -0.08361078
+v 0.11886979 0.06867346 -0.08327561
+v 0.12513029 0.08135622 -0.07096642
+v 0.12383181 0.06945608 -0.07861464
+v 0.12407865 0.08440344 -0.07421338
+v 0.12459026 0.08487911 -0.07096641
+v 0.12483410 0.08471848 -0.06268979
+v 0.12517517 0.07753651 -0.06268982
+v 0.12489542 0.08494414 -0.06609387
+v 0.12157744 0.07753651 -0.06268982
+v 0.11849730 0.06878115 -0.06821598
+v 0.11114777 0.06751676 -0.07715247
+v 0.11114777 0.07102341 -0.08408840
+v 0.11617262 0.06998057 -0.08361077
+v 0.11886979 0.06928941 -0.08327561
+v 0.11961776 0.08483645 -0.07912154
+v 0.12120196 0.08545442 -0.07583686
+v 0.12110921 0.08602969 -0.07096640
+v 0.12158642 0.08472661 -0.06268979
+v 0.12082648 0.07872775 -0.06268981
+v 0.11971051 0.08130130 -0.06268980
+v 0.11114777 0.08136437 -0.07590181
+v 0.11114777 0.08441568 -0.08340334
+v 0.11123304 0.08438721 -0.08339915
+v 0.11382250 0.08392373 -0.08318967
+v 0.11575076 0.08536296 -0.08073035
+v 0.11617262 0.08662940 -0.07583476
+v 0.11114777 0.08653387 -0.08070520
+v 0.12021764 0.08248644 -0.06268980
+v 0.11114777 0.08570242 -0.07579915
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 9 3
+f 2 7 10
+f 2 10 20
+f 2 20 8
+f 3 9 11
+f 3 11 12
+f 3 12 4
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 5 15 6
+f 5 14 28
+f 5 28 38
+f 5 38 46
+f 5 46 44
+f 5 44 39
+f 5 39 29
+f 5 29 16
+f 5 16 15
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+f 6 17 18
+f 6 18 7
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+f 8 20 19
+f 9 19 21
+f 9 21 22
+f 9 22 11
+f 10 18 31
+f 10 31 20
+f 11 23 35
+f 11 35 45
+f 11 45 37
+f 11 37 36
+f 11 36 26
+f 11 26 24
+f 11 24 12
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+f 11 25 23
+f 12 24 26
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+f 13 27 14
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+f 14 27 28
+f 16 29 30
+f 16 30 17
+f 17 30 31
+f 17 31 18
+f 19 20 21
+f 20 31 32
+f 20 32 21
+f 21 33 22
+f 21 32 33
+f 22 33 34
+f 22 34 25
+f 23 25 34
+f 23 34 35
+f 26 36 27
+f 27 36 37
+f 27 37 28
+f 28 37 38
+f 29 39 40
+f 29 40 41
+f 29 41 30
+f 30 41 31
+f 31 41 32
+f 32 41 42
+f 32 42 33
+f 33 43 34
+f 33 42 44
+f 33 44 43
+f 34 43 35
+f 35 43 46
+f 35 46 45
+f 37 45 46
+f 37 46 38
+f 39 44 41
+f 39 41 40
+f 41 44 42
+f 43 44 46
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_19.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1817620c455ce9bf4b6aa547b621d74010ac280
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_19.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.09666676 -0.03197504 -0.07671795
+v -0.09666676 -0.03197502 -0.08037667
+v -0.09666676 -0.03195470 -0.07614125
+v -0.10291646 -0.04226769 -0.08057522
+v -0.10293922 -0.04226768 -0.08406648
+v -0.10229364 -0.03219876 -0.08425719
+v -0.09666676 0.01222653 -0.08089776
+v -0.10609042 -0.03219879 -0.07535051
+v -0.10644254 -0.04226770 -0.07782148
+v -0.10638984 -0.04226770 -0.07786252
+v -0.09666676 0.01222651 -0.07504979
+v -0.10594309 -0.04226768 -0.08550934
+v -0.10609042 -0.03219875 -0.08577658
+v -0.10609042 0.05172926 -0.08572747
+v -0.10239785 0.05172926 -0.08421807
+v -0.09666676 0.05172925 -0.08078116
+v -0.10890146 -0.03232084 -0.07582962
+v -0.10890146 -0.04226770 -0.07776271
+v -0.10609042 0.01222650 -0.07444759
+v -0.10890146 0.01222650 -0.07456848
+v -0.09666676 0.05172923 -0.07534909
+v -0.10609042 0.05172922 -0.07455169
+v -0.10609042 -0.04226768 -0.08556701
+v -0.10879247 -0.04226768 -0.08490824
+v -0.10890146 -0.04226768 -0.08488162
+v -0.10890146 -0.03219876 -0.08503131
+v -0.10890146 0.06026242 -0.08500546
+v -0.10609042 0.05666201 -0.08567421
+v -0.10609042 0.06163545 -0.08560433
+v -0.10303263 0.06163545 -0.08399178
+v -0.09666676 0.05215642 -0.08062590
+v -0.10890146 0.05172922 -0.07468810
+v -0.09666676 0.05485161 -0.07700931
+v -0.10599699 0.06163543 -0.07886248
+v -0.10609042 0.05627550 -0.07648472
+v -0.10890146 0.05369216 -0.07552098
+v -0.10890146 0.06163545 -0.08498659
+v -0.10610599 0.06163545 -0.08560100
+v -0.10302425 0.06163545 -0.08397071
+v -0.09666676 0.05495333 -0.07940372
+v -0.10302425 0.06163544 -0.08146872
+v -0.10588560 0.06163543 -0.07893013
+v -0.10618025 0.06163543 -0.07885361
+v -0.10890146 0.05593987 -0.07661227
+v -0.10890146 0.06163543 -0.07978964
+v -0.10874815 0.06163543 -0.07973641
+f 1 2 7
+f 1 7 16
+f 1 16 31
+f 1 31 40
+f 1 40 33
+f 1 33 21
+f 1 21 11
+f 1 11 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 3 11 8
+f 4 10 9
+f 4 9 18
+f 4 18 25
+f 4 25 24
+f 4 24 23
+f 4 23 12
+f 4 12 5
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 7 15 16
+f 8 17 18
+f 8 18 9
+f 8 11 19
+f 8 19 20
+f 8 20 17
+f 11 21 22
+f 11 22 19
+f 12 23 13
+f 13 23 24
+f 13 24 25
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+f 13 26 27
+f 13 27 14
+f 14 27 28
+f 14 28 15
+f 15 28 29
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+f 15 30 16
+f 16 30 31
+f 17 20 32
+f 17 32 36
+f 17 36 44
+f 17 44 45
+f 17 45 37
+f 17 37 27
+f 17 27 26
+f 17 26 25
+f 17 25 18
+f 19 22 20
+f 20 22 32
+f 21 33 34
+f 21 34 35
+f 21 35 22
+f 22 35 36
+f 22 36 32
+f 27 37 28
+f 28 37 38
+f 28 38 29
+f 29 38 37
+f 29 37 45
+f 29 45 46
+f 29 46 43
+f 29 43 34
+f 29 34 42
+f 29 42 41
+f 29 41 39
+f 29 39 30
+f 30 39 40
+f 30 40 31
+f 33 40 41
+f 33 41 42
+f 33 42 34
+f 34 43 35
+f 35 43 36
+f 36 43 44
+f 39 41 40
+f 43 46 44
+f 44 46 45
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_2.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6ea2c3ec569b491bdc61bad627fd8278698f37f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_2.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.14086142 -0.09638873 0.04470894
+v 0.12110584 -0.10132630 0.04469187
+v 0.12604288 -0.10132630 0.04460152
+v 0.13592438 -0.10076843 0.04427929
+v 0.14086142 -0.09981229 0.04408834
+v 0.14476339 -0.09638873 0.04414462
+v 0.14512826 -0.09524163 0.04420600
+v 0.14219434 -0.09524163 0.04462881
+v 0.07666511 -0.10132630 0.04467141
+v 0.12110584 -0.10438022 0.04400308
+v 0.07196636 -0.10597743 0.04430995
+v 0.07196636 -0.10622567 0.04427756
+v 0.12604288 -0.10422745 0.04389227
+v 0.12999697 -0.10399149 0.04369450
+v 0.14373577 -0.09916714 0.04374737
+v 0.13328832 -0.10373234 0.04340978
+v 0.14744413 -0.09524162 0.04216352
+v 0.14085397 -0.09524163 0.04461518
+v 0.07666511 -0.09828874 0.04397923
+v 0.07196636 -0.10089392 0.04428270
+v 0.07196636 -0.10110669 0.04433043
+v 0.07196636 -0.10895223 0.04106722
+v 0.12604288 -0.10522451 0.04106723
+v 0.14086142 -0.10155270 0.04106725
+v 0.14430915 -0.09967315 0.04106725
+v 0.14698989 -0.09629461 0.04142189
+v 0.13138202 -0.10445795 0.04149858
+v 0.13477763 -0.10411696 0.04016364
+v 0.13622225 -0.10328494 0.04149858
+v 0.14803241 -0.09524162 0.04056602
+v 0.13730198 -0.09524163 0.04427078
+v 0.07666511 -0.09701888 0.04106726
+v 0.07319504 -0.09850698 0.04381215
+v 0.07196636 -0.10051201 0.04419404
+v 0.07196636 -0.10885538 0.03944244
+v 0.08289783 -0.10917451 0.02729158
+v 0.08472222 -0.10917451 0.02729158
+v 0.08440202 -0.10895220 0.03132709
+v 0.08412650 -0.10876397 0.03390832
+v 0.13477763 -0.10411695 0.03812798
+v 0.14422724 -0.09963632 0.03787737
+v 0.14759305 -0.09524161 0.03781601
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+v 0.07196636 -0.10133173 0.03607869
+v 0.10408314 -0.10338173 0.02729160
+v 0.10500650 -0.10132624 0.02729161
+f 1 2 3
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+f 57 60 58
+f 59 65 63
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_20.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0d0fd4a1b97677fca0056c371858c23c7e33053
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_20.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.08633438 0.10198133 -0.04173135
+v -0.08929388 0.10291049 -0.04173134
+v -0.08913370 0.10309711 -0.04518017
+v -0.08633438 0.10272872 -0.04601189
+v -0.08409704 0.10287685 -0.04571801
+v -0.08335502 0.10292591 -0.04561266
+v -0.08409704 0.10243918 -0.04173134
+v -0.08409704 0.10254305 -0.03835459
+v -0.08328154 0.10304705 -0.03198922
+v -0.08633438 0.10228911 -0.03686305
+v -0.08905956 0.10331253 -0.03198922
+v -0.08922901 0.10307400 -0.03686305
+v -0.08929388 0.10503815 -0.04173133
+v -0.08936140 0.10758983 0.00209436
+v -0.08937531 0.10739172 -0.00764777
+v -0.08913370 0.10440526 -0.04518017
+v -0.08633438 0.10493909 -0.04601188
+v -0.08409704 0.10465727 -0.04571801
+v -0.08335502 0.10456493 -0.04561266
+v -0.08308363 0.10264694 -0.04173134
+v -0.08310679 0.10279217 -0.03686305
+v -0.08362641 0.10338080 -0.02712093
+v -0.08281952 0.10716755 0.00696818
+v -0.08890070 0.10348661 -0.02880654
+v -0.08384617 0.10356354 -0.02456480
+v -0.08633438 0.10642979 0.00696264
+v -0.08927602 0.10777449 0.00696265
+v -0.08937531 0.10948667 -0.00764776
+v -0.08934221 0.10930683 -0.01251605
+v -0.08923233 0.10902214 -0.02225263
+v -0.08914694 0.10887884 -0.02712091
+v -0.08896292 0.10867013 -0.03198920
+v -0.08882656 0.10853452 -0.03461741
+v -0.08936140 0.10982329 0.00209436
+v -0.08633438 0.10683011 -0.04173133
+v -0.08409704 0.10512857 -0.04464787
+v -0.08308363 0.10536903 -0.04173133
+v -0.08367010 0.10867303 -0.03546021
+v -0.08281488 0.10604616 -0.03198921
+v -0.08264079 0.10655204 -0.01738989
+v -0.08261299 0.10662129 -0.01251606
+v -0.08262888 0.10674150 -0.00764223
+v -0.08268978 0.10689153 -0.00277948
+v -0.08281952 0.11041001 0.00696820
+v -0.08318954 0.10765809 0.01056673
+v -0.08409704 0.10689823 0.00696818
+v -0.08409704 0.10730316 0.00952985
+v -0.08633438 0.10757152 0.01063327
+v -0.08906354 0.10811113 0.00987364
+v -0.08927602 0.10973478 0.00696265
+v -0.08936803 0.10967999 -0.00277393
+v -0.08633438 0.11180570 0.00209437
+v -0.08633438 0.11155468 -0.00277392
+v -0.08633438 0.10999844 -0.02225263
+v -0.08633438 0.10956081 -0.02712091
+v -0.08633438 0.10905777 -0.03198920
+v -0.08633438 0.10864899 -0.03533823
+v -0.08339871 0.10890099 -0.03198920
+v -0.08305847 0.10919434 -0.02712091
+v -0.08277318 0.10948865 -0.02225263
+v -0.08264079 0.10973871 -0.01738988
+v -0.08261299 0.10995128 -0.01251605
+v -0.08262888 0.11015710 -0.00764222
+v -0.08268978 0.11038792 -0.00277946
+v -0.08409704 0.11085439 0.00696820
+v -0.08318954 0.10973861 0.01056673
+v -0.08275465 0.11049563 0.00209437
+v -0.08409704 0.11098812 0.00209437
+v -0.08409704 0.10763308 0.01058891
+v -0.08633438 0.10998389 0.01063327
+v -0.08906354 0.10924806 0.00987364
+v -0.08633438 0.11163159 0.00696266
+v -0.08409704 0.11093618 -0.00089425
+v -0.08409704 0.10980980 0.01058891
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+f 1 4 5
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+f 1 9 10
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+f 14 27 50
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+f 64 73 68
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+f 70 72 71
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_21.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..707e3dc0cd6223525efd2317af3052b3bd35dd0c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_21.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.06141815 -0.07651877 -0.08057156
+v 0.06151449 -0.07651877 -0.08047117
+v 0.06206844 -0.07651875 -0.08602081
+v -0.01137927 -0.07805270 -0.08070719
+v 0.06616292 -0.07651878 -0.07943205
+v 0.06218887 -0.07651875 -0.08621806
+v -0.01137927 -0.07813701 -0.08129192
+v -0.01137927 -0.07850538 -0.07820448
+v 0.06262240 -0.07651875 -0.08663371
+v 0.06592207 -0.07651875 -0.08763409
+v 0.06676505 -0.07651878 -0.07940739
+v -0.01137927 -0.07860251 -0.07767259
+v 0.10133930 -0.07665075 -0.07750351
+v -0.01137927 -0.07855851 -0.08403943
+v 0.06618701 -0.07651875 -0.08763409
+v 0.06676505 -0.08157688 -0.08716562
+v -0.01137927 -0.08157689 -0.08557347
+v 0.07150983 -0.07651877 -0.08071598
+v 0.10604795 -0.07665074 -0.07775712
+v -0.01137927 -0.08157692 -0.07600295
+v 0.10156812 -0.09524121 -0.06964321
+v 0.11164776 -0.08154027 -0.07585853
+v 0.06680118 -0.07651875 -0.08742451
+v 0.10135135 -0.07665071 -0.08628323
+v 0.10135135 -0.08157688 -0.08592748
+v 0.07942181 -0.09440181 -0.08334909
+v 0.00077170 -0.09498093 -0.08358334
+v -0.00055298 -0.09498093 -0.08358334
+v -0.01137927 -0.08536132 -0.08467526
+v 0.07138941 -0.07651876 -0.08455194
+v 0.10725221 -0.07665073 -0.08039720
+v 0.10733651 -0.07665073 -0.08059798
+v 0.11164776 -0.07882610 -0.07789098
+v -0.01137927 -0.08541816 -0.07660354
+v -0.00187767 -0.09524119 -0.07594841
+v 0.10212207 -0.09524121 -0.07100992
+v 0.11164776 -0.08579936 -0.07621608
+v 0.07110038 -0.07651876 -0.08506269
+v 0.10544582 -0.07665072 -0.08473158
+v 0.11028695 -0.08299720 -0.08343534
+v 0.11028695 -0.08455128 -0.08343535
+v 0.10114662 -0.08647007 -0.08429484
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+v 0.10056858 -0.09524118 -0.07973857
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+v -0.00074566 -0.09524116 -0.08315535
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+v -0.00175724 -0.09524117 -0.08092212
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+v 0.11164776 -0.07882610 -0.07902698
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+v 0.11164776 -0.08143579 -0.08180620
+v 0.11164776 -0.08145778 -0.08181501
+v 0.11164776 -0.08566372 -0.08118626
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+f 1 18 30
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+f 1 38 23
+f 1 23 15
+f 1 15 10
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+f 1 6 3
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+f 22 52 33
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+f 41 59 46
+f 41 46 43
+f 41 43 42
+f 46 59 55
+f 49 50 53
+f 50 54 53
+f 55 59 56
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_22.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7013941dfb95ed1d1ab96fc3891bccec1e0ca25
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_22.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.10921928 0.10313997 -0.06467342
+v -0.10921928 0.10313997 -0.05331473
+v -0.10921928 0.10413997 -0.06467342
+v -0.10921928 0.10413997 -0.05331473
+v -0.10821928 0.10313997 -0.06467342
+v -0.10821928 0.10313997 -0.05331473
+v -0.10821928 0.10413997 -0.06467342
+v -0.10821928 0.10413997 -0.05331473
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_23.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5dca338607a5c777d25da5e923be183a7ec2c867
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_23.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.08409634 -0.11208984 0.03133107
+v -0.08139572 -0.11049822 0.00695504
+v -0.08178775 -0.11200892 0.03113565
+v -0.08169509 -0.11195057 0.03113565
+v -0.07871412 -0.10911368 0.03113566
+v -0.08409634 -0.10667997 0.03133109
+v -0.08527796 -0.11199833 0.03133107
+v -0.08550684 -0.11011624 0.00209013
+v -0.08528746 -0.10980056 -0.00278508
+v -0.08139572 -0.11079400 0.01183025
+v -0.08496038 -0.10945439 -0.00765000
+v -0.08409634 -0.10945439 -0.00766028
+v -0.08236035 -0.10945439 -0.00766028
+v -0.08177507 -0.10979924 -0.00278508
+v -0.08287433 -0.10518227 -0.06120525
+v -0.08094747 -0.10986690 0.00213127
+v -0.07889469 -0.10877802 0.00378720
+v -0.07887013 -0.10882446 0.00695505
+v -0.07871412 -0.10844390 0.03113566
+v -0.08575948 -0.10679006 0.03133109
+v -0.08139572 -0.10651020 0.03113567
+v -0.08395933 -0.09881095 -0.03360991
+v -0.08553139 -0.11183785 0.03133107
+v -0.08574919 -0.11066402 0.01183025
+v -0.08566048 -0.11040538 0.00695504
+v -0.08675736 -0.10525789 -0.05144455
+v -0.08672647 -0.10527513 -0.05144455
+v -0.08409634 -0.10560004 -0.06120525
+v -0.08251319 -0.10537857 -0.05634033
+v -0.08409634 -0.10539313 -0.06293317
+v -0.08409634 -0.10497137 -0.06608045
+v -0.08324339 -0.10465837 -0.06608044
+v -0.08153828 -0.10132684 -0.04660018
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+v -0.08409634 -0.09913706 -0.07360921
+v -0.08409634 -0.10354428 -0.07022539
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+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_24.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c4f30558ab9f64d0b75742660abe4d564993d0f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_24.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.04228432 -0.10996097 0.03113988
+v -0.04109678 -0.10961211 0.01670696
+v -0.03814117 -0.10961211 0.01670696
+v -0.03806168 -0.10972894 0.02157022
+v -0.03802154 -0.10994637 0.03113988
+v -0.04235417 -0.10991067 0.03113988
+v -0.04482240 -0.10455809 -0.06120616
+v -0.04188125 -0.10632487 -0.06120617
+v -0.04082057 -0.10943687 0.01183248
+v -0.03830979 -0.10943687 0.01183248
+v -0.03800307 -0.10555910 -0.06120617
+v -0.03670071 -0.10626184 0.00695802
+v -0.03662202 -0.10626185 0.01183249
+v -0.03662121 -0.10626187 0.01670697
+v -0.03671837 -0.10626189 0.02157023
+v -0.03696166 -0.10626192 0.03113989
+v -0.04352887 -0.10643227 0.03113989
+v -0.04482400 -0.10461812 -0.05634289
+v -0.04482240 -0.10285134 -0.06120616
+v -0.04455020 -0.09953999 -0.07418234
+v -0.04459999 -0.10415247 -0.06609184
+v -0.04188125 -0.10552014 -0.06609185
+v -0.03867914 -0.10445259 -0.07096631
+v -0.03813715 -0.10516159 -0.06609185
+v -0.03880520 -0.10906531 0.00208354
+v -0.04015172 -0.10906531 0.00208354
+v -0.04050742 -0.10925191 0.00695801
+v -0.03853380 -0.10925191 0.00695801
+v -0.03757109 -0.10132463 -0.07096630
+v -0.03768992 -0.09338624 -0.08071522
+v -0.03772606 -0.10254496 0.01183250
+v -0.03835395 -0.10310638 0.03113990
+v -0.03783284 -0.09338626 -0.07545976
+v -0.04468831 -0.10295360 -0.04659394
+v -0.04477101 -0.10289517 -0.05146842
+v -0.04477101 -0.10449484 -0.05146842
+v -0.04352004 -0.10639171 0.03113989
+v -0.04455020 -0.09843189 -0.07228856
+v -0.04482400 -0.10286594 -0.05634289
+v -0.04455020 -0.09843189 -0.07418233
+v -0.04204665 -0.09338624 -0.08052472
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+v -0.04398975 -0.10409892 -0.06826574
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+v -0.03815964 -0.09610050 -0.08073764
+v -0.03920426 -0.09426395 -0.08328133
+v -0.03862775 -0.09338624 -0.08247451
+v -0.04092816 -0.10310638 0.03113990
+v -0.03964989 -0.09338626 -0.07547096
+v -0.04255330 -0.09338625 -0.07837323
+v -0.03983697 -0.09338623 -0.08333735
+v -0.03975347 -0.09426395 -0.08328133
+v -0.03857877 -0.09968274 -0.07913525
+v -0.03912156 -0.09338623 -0.08333735
+v -0.04213899 -0.09338626 -0.07565025
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+f 1 5 16
+f 1 16 32
+f 1 32 56
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+f 1 37 17
+f 1 17 6
+f 1 6 7
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+f 52 61 53
+f 53 61 54
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+f 54 62 55
+f 56 57 63
+f 56 63 58
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_25.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b9a5308bf70c11b224e7197300cdc5ac6f7f654
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_25.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.06659305 -0.11021001 0.03113988
+v -0.06299865 -0.10983617 0.03113988
+v -0.06931199 -0.10910495 0.03113988
+v -0.06591050 -0.10974222 0.00696803
+v -0.06286370 -0.10974222 0.00696803
+v -0.06284121 -0.10977516 0.01182670
+v -0.06286716 -0.10977189 0.01670744
+v -0.06103925 -0.10626072 0.00696804
+v -0.06116036 -0.10626073 0.01182671
+v -0.06135674 -0.10626075 0.01670745
+v -0.06159809 -0.10626077 0.02156611
+v -0.06210330 -0.10626080 0.03113989
+v -0.06554890 -0.10949350 -0.00278242
+v -0.06578420 -0.10963515 0.00208729
+v -0.06931199 -0.10719128 0.03113989
+v -0.06987343 -0.09338513 -0.07620338
+v -0.06928604 -0.09936659 -0.07582796
+v -0.06604459 -0.10482110 -0.06120784
+v -0.06296059 -0.10963515 0.00208729
+v -0.06117074 -0.10626068 -0.00278241
+v -0.06103665 -0.10626070 0.00208730
+v -0.06119150 -0.10132653 -0.03198958
+v -0.06126417 -0.10132655 -0.02710883
+v -0.06143373 -0.10132657 -0.02226121
+v -0.06228496 -0.10213035 0.00696805
+v -0.06242857 -0.10233951 0.01182672
+v -0.06259898 -0.10255199 0.01670746
+v -0.06321319 -0.10307574 0.03113990
+v -0.06514750 -0.10925797 -0.00765212
+v -0.06309987 -0.10949350 -0.00278242
+v -0.06583611 -0.10461192 -0.06608857
+v -0.06930334 -0.10711883 0.03113989
+v -0.06721936 -0.09338514 -0.07286857
+v -0.06972982 -0.09338512 -0.08022282
+v -0.06953691 -0.09638902 -0.07927318
+v -0.06875574 -0.10473909 0.03113990
+v -0.06866058 -0.10461392 0.03113990
+v -0.06628508 -0.10307574 0.03113990
+v -0.06911043 -0.09894497 -0.07835667
+v -0.06286630 -0.10482110 -0.06120784
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+v -0.06532917 -0.09338511 -0.08121664
+v -0.06327894 -0.09638902 -0.07958237
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+f 1 15 3
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+f 58 64 59
+f 59 65 67
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+f 60 67 61
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+f 65 66 67
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_26.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6382d38ef9d921c36c6cc4cce8c646601f784b42
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_26.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.06296687 0.12418010 0.04106765
+v 0.06335570 0.12392138 0.04413557
+v 0.06568870 0.12418010 0.04106765
+v 0.06346911 0.12386481 0.03789938
+v -0.01138104 0.11856335 0.03837674
+v -0.01138104 0.11865631 0.04106611
+v -0.01138104 0.11847844 0.04360042
+v 0.06589931 0.12085329 0.04444873
+v 0.06529986 0.12392138 0.04413557
+v -0.01138104 0.11591765 0.04444112
+v 0.04207525 0.11098403 0.04537911
+v 0.06747894 0.12085330 0.04106763
+v 0.06516215 0.12386481 0.03789938
+v 0.06199479 0.11259090 0.02988293
+v 0.04207525 0.11252015 0.02988293
+v -0.00203287 0.11116599 0.02988293
+v -0.01138104 0.11810455 0.03813045
+v 0.07137536 0.11027461 0.04441221
+v 0.06183278 0.11098403 0.04541256
+v 0.07137536 0.11262925 0.04082892
+v -0.01138104 0.11283338 0.04435748
+v -0.00235690 0.11098403 0.04497320
+v 0.04207525 0.10672549 0.04455662
+v 0.06149255 0.10585235 0.04443804
+v 0.07137536 0.11264341 0.04078027
+v 0.07137536 0.11131754 0.03739918
+v 0.07137536 0.11130744 0.03737637
+v 0.06530796 0.11033126 0.02988293
+v 0.06295877 0.11205529 0.02988293
+v -0.00216248 0.10770174 0.02988292
+v -0.01138104 0.11503847 0.03697351
+v -0.01138104 0.11591767 0.03702064
+v 0.07137536 0.10650316 0.04440459
+v -0.01138104 0.11198046 0.04432252
+v -0.00235690 0.10736012 0.04409749
+v 0.00112639 0.10717620 0.04421608
+v 0.05929727 0.10353207 0.04355778
+v 0.05961320 0.10353207 0.04355778
+v 0.07137536 0.11127712 0.03736421
+v 0.07137536 0.10559366 0.03732618
+v 0.06530796 0.10719242 0.02988291
+v -0.00216248 0.10639609 0.02988291
+v -0.01138104 0.11161869 0.03719090
+v 0.07137536 0.10396259 0.04109342
+v -0.01138104 0.11031303 0.04106608
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+v 0.06183278 0.10559571 0.02988291
+v 0.04207525 0.10553912 0.02988291
+f 1 2 9
+f 1 9 3
+f 1 3 13
+f 1 13 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 7 10
+f 2 10 11
+f 2 11 8
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+f 42 48 47
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+f 49 51 50
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_27.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcdf96c58d62c8a42a76727250f9f788a4264f3e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_27.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.04208366 -0.11104749 0.02729157
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+v 0.04470638 -0.10888732 -0.00278020
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+v 0.03917504 -0.10913334 -0.00278020
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+v 0.03951285 -0.10881301 -0.01082652
+v 0.04025864 -0.10881301 -0.01082652
+v 0.04183798 -0.10556036 -0.06121792
+v 0.04465812 -0.10395274 -0.04660580
+v 0.04479851 -0.10415082 -0.04173509
+v 0.04497984 -0.10919528 0.00696121
+v 0.04518603 -0.10509323 -0.01739230
+v 0.04520723 -0.10718847 0.02729159
+v 0.03842193 -0.11012529 0.02729158
+v 0.03852795 -0.10994733 0.02157333
+v 0.03864275 -0.10978484 0.01670263
+v 0.03792181 -0.10556036 -0.06121792
+v 0.04179704 -0.10516423 -0.06608863
+v 0.04455503 -0.10379646 -0.04906261
+v 0.04466178 -0.09914510 -0.07393108
+v 0.04518603 -0.10276296 -0.01739229
+v 0.04514947 -0.10295638 -0.01252159
+v 0.04465081 -0.10368834 0.00611369
+v 0.04454333 -0.10380440 0.00936440
+v 0.04274610 -0.10470192 0.02645478
+v 0.04256916 -0.10469263 0.02729160
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+v 0.03814555 -0.10626160 0.02157334
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+v 0.03941853 -0.10364974 0.02645478
+v 0.03885771 -0.09524117 -0.08230997
+v 0.03946532 -0.10389230 -0.07359852
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+f 51 63 52
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+f 53 64 54
+f 59 62 60
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_28.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41fe5587b47cb9a9d4ee3d37e2c125f6658db427
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_28.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.08565694 0.06738260 -0.07636418
+v 0.08565694 0.06738262 -0.08035454
+v 0.08565694 0.08628868 -0.07574256
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+v 0.06677875 0.00845495 -0.07627826
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+v 0.06979820 -0.00022430 -0.08221944
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+v 0.06547010 0.07148455 -0.08818419
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+v 0.08565694 0.08239189 -0.08543953
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+v 0.06566129 -0.00022428 -0.08820565
+v 0.06979820 -0.00022429 -0.08497864
+v 0.06902686 -0.00022428 -0.08613957
+v 0.08565694 0.09019483 -0.08050687
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+v 0.05792146 0.09501455 -0.07599301
+v 0.05198803 0.08628868 -0.07611496
+v 0.05680070 0.01223989 -0.07530418
+v 0.06184412 0.01223989 -0.07501925
+v 0.05680070 0.00863208 -0.07621067
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+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_29.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9248ac05cee41b29743f4c209ef141979fc09724
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_29.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.14979116 0.08085037 0.04106850
+v -0.14895643 0.08085036 0.04437577
+v -0.14895451 0.08135791 0.04437577
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+v -0.13542852 0.08627266 -0.07071948
+v -0.14905025 0.09113723 0.04106853
+v -0.13493075 0.08213273 -0.07071950
+v -0.13050824 0.08201592 -0.07071950
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+v -0.14560413 0.09113721 0.04515999
+v -0.14566539 0.09113721 0.04513726
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+v -0.13769721 0.09113722 0.04387573
+v -0.13771828 0.09113722 0.04392119
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+f 30 49 31
+f 34 50 35
+f 35 51 45
+f 35 45 44
+f 35 50 51
+f 36 52 37
+f 37 52 53
+f 37 53 54
+f 37 54 55
+f 39 43 56
+f 39 56 57
+f 39 57 58
+f 39 58 59
+f 39 59 60
+f 45 61 52
+f 45 51 61
+f 50 60 58
+f 50 58 62
+f 50 62 63
+f 50 63 51
+f 51 63 61
+f 52 61 53
+f 53 61 64
+f 53 64 65
+f 53 65 54
+f 54 65 66
+f 54 66 55
+f 58 65 64
+f 58 64 63
+f 58 63 62
+f 58 60 59
+f 61 63 64
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_3.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6910a40652f7063ba7cff9c0d81b1dd98f542669
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_3.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.00236609 -0.11119976 0.04545899
+v 0.02007709 -0.10371299 0.04360956
+v 0.01963748 -0.10371299 0.04360956
+v -0.00236609 -0.10739573 0.04437601
+v -0.01138104 -0.11077674 0.04443467
+v -0.01138104 -0.11475816 0.04460005
+v -0.01138104 -0.11567543 0.04460183
+v 0.04694496 -0.11633192 0.04455202
+v 0.03714213 -0.11119824 0.04527938
+v 0.02054525 -0.10342643 0.04106477
+v 0.03714213 -0.10710614 0.04428354
+v 0.04694496 -0.10822052 0.04393853
+v 0.03714213 -0.10474245 0.04106655
+v 0.01912364 -0.10342643 0.04106477
+v -0.00002528 -0.10373420 0.03892900
+v -0.01138104 -0.10884971 0.04303336
+v -0.01138104 -0.11794359 0.04106472
+v 0.04694496 -0.11850760 0.04229176
+v 0.04694496 -0.11119824 0.04494861
+v 0.02086497 -0.10320808 0.03619926
+v 0.03981978 -0.10375691 0.02969057
+v 0.04694496 -0.10700910 0.04106654
+v 0.04208066 -0.10576434 0.04106654
+v 0.04208066 -0.10490011 0.03619925
+v 0.01876967 -0.10320808 0.03619926
+v -0.00014518 -0.10367506 0.03619926
+v -0.01138104 -0.10816744 0.04126926
+v -0.01138104 -0.11628642 0.03784772
+v 0.04694496 -0.11869711 0.04106649
+v 0.02086497 -0.10323838 0.02729160
+v 0.04015663 -0.10367806 0.02729160
+v 0.04694496 -0.10721376 0.03624548
+v 0.04256595 -0.10469540 0.02729160
+v 0.01884960 -0.10323838 0.02729160
+v -0.00025365 -0.10361135 0.02729160
+v -0.00021940 -0.10363109 0.03132663
+v -0.01138104 -0.10814014 0.03751876
+v -0.01138104 -0.11593315 0.03716662
+v -0.00236609 -0.11592861 0.03693188
+v 0.04208066 -0.11104808 0.02729157
+v 0.04694496 -0.11635313 0.03709371
+v 0.04694496 -0.11122398 0.03500775
+v 0.04520363 -0.10719098 0.02729159
+v -0.00060763 -0.10406468 0.02729160
+v -0.01138104 -0.11119972 0.03605518
+v -0.00218910 -0.10626462 0.02729159
+v -0.00183513 -0.11041432 0.02729157
+v 0.04520363 -0.10965624 0.02729158
+v 0.04694496 -0.11631220 0.03705814
+v -0.00213772 -0.10699237 0.02729159
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 10 14
+f 2 14 3
+f 2 9 11
+f 2 11 12
+f 2 12 13
+f 2 13 10
+f 3 14 15
+f 3 15 4
+f 4 15 16
+f 4 16 5
+f 5 16 27
+f 5 27 37
+f 5 37 45
+f 5 45 38
+f 5 38 28
+f 5 28 17
+f 5 17 7
+f 5 7 6
+f 7 17 18
+f 7 18 8
+f 8 18 29
+f 8 29 41
+f 8 41 49
+f 8 49 42
+f 8 42 32
+f 8 32 22
+f 8 22 12
+f 8 12 19
+f 8 19 9
+f 9 19 11
+f 10 20 25
+f 10 25 14
+f 10 13 21
+f 10 21 20
+f 11 19 12
+f 12 22 23
+f 12 23 13
+f 13 23 24
+f 13 24 21
+f 14 25 15
+f 15 26 27
+f 15 27 16
+f 15 25 26
+f 17 28 29
+f 17 29 18
+f 20 30 34
+f 20 34 25
+f 20 21 31
+f 20 31 30
+f 21 24 31
+f 22 32 33
+f 22 33 31
+f 22 31 24
+f 22 24 23
+f 25 34 35
+f 25 35 36
+f 25 36 26
+f 26 36 27
+f 27 36 35
+f 27 35 37
+f 28 38 39
+f 28 39 29
+f 29 40 41
+f 29 39 40
+f 30 31 33
+f 30 33 43
+f 30 43 48
+f 30 48 40
+f 30 40 47
+f 30 47 50
+f 30 50 46
+f 30 46 44
+f 30 44 35
+f 30 35 34
+f 32 42 43
+f 32 43 33
+f 35 44 37
+f 37 44 46
+f 37 46 45
+f 38 45 47
+f 38 47 40
+f 38 40 39
+f 40 48 41
+f 41 48 49
+f 42 48 43
+f 42 49 48
+f 45 46 50
+f 45 50 47
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_30.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f694293d7193f01f75a1472c39e3d2f1351e72b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_30.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.08426909 0.10314756 -0.06269167
+v 0.08418140 0.10332152 -0.06609368
+v 0.08426909 0.10399124 -0.06269167
+v 0.08343599 0.10230932 -0.06269167
+v 0.08151185 0.09501960 -0.07573144
+v 0.08173625 0.09501960 -0.07660830
+v 0.08418140 0.10380098 -0.06609368
+v 0.08407565 0.10353680 -0.06857000
+v 0.08237333 0.10521761 -0.06269166
+v 0.08154796 0.10091985 -0.06269168
+v 0.07968057 0.09841168 -0.06767362
+v 0.06183975 0.09501959 -0.07472177
+v 0.08140352 0.09501962 -0.08097116
+v 0.08407565 0.10359116 -0.06857000
+v 0.08159697 0.10537418 -0.06609367
+v 0.08159697 0.10569164 -0.06269166
+v 0.06178043 0.10027513 -0.06269168
+v 0.05791925 0.09501960 -0.07599118
+v 0.08003392 0.09501962 -0.08262139
+v 0.08092120 0.09614379 -0.08092233
+v 0.08047498 0.09968593 -0.07944394
+v 0.07999524 0.10401411 -0.07413391
+v 0.08162276 0.10441636 -0.07050145
+v 0.07793440 0.10461424 -0.07096625
+v 0.06184232 0.10584495 -0.06609367
+v 0.06184232 0.10612544 -0.06269166
+v 0.05852280 0.10171896 -0.06269168
+v 0.05847896 0.10284640 -0.06269167
+v 0.05847896 0.10490449 -0.06269166
+v 0.05815139 0.10110688 -0.07096626
+v 0.05799147 0.09501962 -0.08078368
+v 0.06134195 0.09501962 -0.08264092
+v 0.07792924 0.09968593 -0.07944394
+v 0.07852247 0.10401411 -0.07413391
+v 0.05902576 0.10389234 -0.07394447
+v 0.05865951 0.10435983 -0.07096625
+v 0.05846606 0.10480231 -0.06609368
+v 0.05839126 0.10110582 -0.07567478
+v 0.05880911 0.09501962 -0.08213901
+v 0.05872657 0.09945978 -0.07918616
+v 0.06184232 0.09960873 -0.07932286
+f 1 2 7
+f 1 7 3
+f 1 3 9
+f 1 9 16
+f 1 16 26
+f 1 26 29
+f 1 29 28
+f 1 28 27
+f 1 27 17
+f 1 17 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 14
+f 2 14 7
+f 3 7 9
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 18
+f 5 18 31
+f 5 31 39
+f 5 39 32
+f 5 32 19
+f 5 19 13
+f 5 13 6
+f 6 13 8
+f 7 14 15
+f 7 15 16
+f 7 16 9
+f 8 13 14
+f 10 17 11
+f 11 17 12
+f 12 17 18
+f 13 19 20
+f 13 20 21
+f 13 21 14
+f 14 21 22
+f 14 22 23
+f 14 23 15
+f 15 23 22
+f 15 22 24
+f 15 24 25
+f 15 25 16
+f 16 25 26
+f 17 27 18
+f 18 27 28
+f 18 28 29
+f 18 29 30
+f 18 30 31
+f 19 21 20
+f 19 32 21
+f 21 32 33
+f 21 33 34
+f 21 34 22
+f 22 34 25
+f 22 25 24
+f 25 35 36
+f 25 36 37
+f 25 37 26
+f 25 34 35
+f 26 37 29
+f 29 37 30
+f 30 38 31
+f 30 37 38
+f 31 38 40
+f 31 40 39
+f 32 39 40
+f 32 40 41
+f 32 41 33
+f 33 41 34
+f 34 41 35
+f 35 41 40
+f 35 40 38
+f 35 38 36
+f 36 38 37
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_31.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53afc47554c7788399778fc2a6800c5ba2a5f4b8
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_31.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.01973336 0.09720281 -0.07182869
+v -0.02174615 0.09745593 -0.07182869
+v -0.01884676 0.09744763 -0.07182869
+v -0.01898799 0.10308926 0.01184129
+v -0.01930078 0.10333406 0.01670806
+v -0.01953297 0.10349726 0.01995579
+v -0.02001731 0.10349726 0.01995579
+v -0.02065546 0.10333406 0.01670806
+v -0.02142153 0.10308926 0.01184129
+v -0.02401330 0.09895805 -0.07182869
+v -0.02212475 0.10091505 -0.02225505
+v -0.02464627 0.10350978 0.00106693
+v -0.01768582 0.10014480 -0.07182868
+v -0.01801266 0.10156236 -0.02225505
+v -0.01806886 0.10177535 -0.01738827
+v -0.01857168 0.10266328 0.00209810
+v -0.01874398 0.10286519 0.00696488
+v -0.01812136 0.10642540 0.02660545
+v -0.02199682 0.10560794 0.02660545
+v -0.02212475 0.10558581 0.02660545
+v -0.02190883 0.10286519 0.00696488
+v -0.02472687 0.10040622 -0.07182868
+v -0.02471283 0.10342127 -0.00277831
+v -0.02478825 0.10330787 -0.00764508
+v -0.02485258 0.10318341 -0.01252149
+v -0.02260391 0.10280574 0.00245468
+v -0.02495758 0.10767439 0.02660546
+v -0.01768730 0.10117387 -0.07182868
+v -0.01760078 0.10110887 -0.07096133
+v -0.01747582 0.10604371 0.00696489
+v -0.01758304 0.10604370 0.01184130
+v -0.01818052 0.10200910 -0.01252150
+v -0.01812358 0.11053200 0.02660547
+v -0.02474388 0.10115866 -0.07182868
+v -0.02488660 0.10307276 -0.01738826
+v -0.02489621 0.10293032 -0.02225504
+v -0.02491026 0.10280585 -0.02712181
+v -0.02496276 0.10270907 -0.03686499
+v -0.02498938 0.10267035 -0.04173176
+v -0.02501378 0.10263579 -0.04660818
+v -0.02501230 0.10264826 -0.05147495
+v -0.02498199 0.10272574 -0.05634173
+v -0.02490582 0.10272853 -0.06608491
+v -0.02495758 0.10932035 0.02660546
+v -0.01820861 0.10441463 -0.07182867
+v -0.01822562 0.10499833 -0.07096131
+v -0.01811544 0.10534548 -0.06608490
+v -0.01800157 0.10558888 -0.05634172
+v -0.01750318 0.10604375 -0.00277830
+v -0.01746029 0.10604373 0.00209811
+v -0.01811840 0.11050296 0.02645127
+v -0.01825150 0.10982942 0.01184131
+v -0.01872179 0.10922779 -0.00277829
+v -0.01826038 0.11056659 0.02660547
+v -0.02474536 0.10386275 -0.07096132
+v -0.02469434 0.10376454 -0.07182867
+v -0.02490582 0.10417947 -0.06608491
+v -0.02501378 0.10436613 -0.04660818
+v -0.02501230 0.10439797 -0.05147495
+v -0.02498199 0.10435787 -0.05634173
+v -0.02494501 0.10279490 -0.06121814
+v -0.02213140 0.11133286 0.02660547
+v -0.02465515 0.10859427 0.00793825
+v -0.02494501 0.10426936 -0.06121814
+v -0.01836316 0.10483511 -0.07182866
+v -0.02212475 0.10528326 -0.07096131
+v -0.02212475 0.10594716 -0.06608490
+v -0.02137790 0.10505642 -0.07182866
+v -0.01943980 0.10865245 -0.01597158
+v -0.01919135 0.10882533 -0.01252147
+v -0.01893475 0.10903002 -0.00764506
+v -0.01854432 0.10942142 0.00209812
+v -0.01838830 0.10962196 0.00696490
+v -0.02212475 0.10499279 -0.07182866
+f 1 2 10
+f 1 10 22
+f 1 22 34
+f 1 34 56
+f 1 56 74
+f 1 74 68
+f 1 68 65
+f 1 65 45
+f 1 45 28
+f 1 28 13
+f 1 13 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 11
+f 2 11 12
+f 2 12 10
+f 3 13 14
+f 3 14 15
+f 3 15 16
+f 3 16 17
+f 3 17 4
+f 4 17 18
+f 4 18 5
+f 5 18 6
+f 6 18 19
+f 6 19 20
+f 6 20 7
+f 7 20 8
+f 8 20 9
+f 9 20 12
+f 9 12 21
+f 9 21 11
+f 10 12 23
+f 10 23 24
+f 10 24 25
+f 10 25 22
+f 11 21 26
+f 11 26 12
+f 12 26 21
+f 12 20 27
+f 12 27 23
+f 13 28 29
+f 13 29 30
+f 13 30 14
+f 14 30 31
+f 14 31 15
+f 15 31 32
+f 15 32 16
+f 16 32 31
+f 16 31 18
+f 16 18 17
+f 18 33 54
+f 18 54 62
+f 18 62 44
+f 18 44 27
+f 18 27 20
+f 18 20 19
+f 18 31 33
+f 22 25 35
+f 22 35 36
+f 22 36 37
+f 22 37 38
+f 22 38 39
+f 22 39 40
+f 22 40 41
+f 22 41 42
+f 22 42 43
+f 22 43 34
+f 23 27 24
+f 24 27 25
+f 25 27 35
+f 27 44 58
+f 27 58 40
+f 27 40 35
+f 28 45 46
+f 28 46 29
+f 29 46 47
+f 29 47 48
+f 29 48 49
+f 29 49 50
+f 29 50 30
+f 30 50 51
+f 30 51 31
+f 31 51 33
+f 33 52 53
+f 33 53 54
+f 33 51 48
+f 33 48 47
+f 33 47 52
+f 34 55 56
+f 34 43 57
+f 34 57 55
+f 35 40 39
+f 35 39 38
+f 35 38 37
+f 35 37 36
+f 40 58 59
+f 40 59 41
+f 41 59 60
+f 41 60 42
+f 42 60 64
+f 42 64 61
+f 42 61 43
+f 43 61 64
+f 43 64 57
+f 44 62 63
+f 44 63 57
+f 44 57 64
+f 44 64 60
+f 44 60 59
+f 44 59 58
+f 45 65 46
+f 46 66 67
+f 46 67 47
+f 46 65 68
+f 46 68 66
+f 47 67 69
+f 47 69 70
+f 47 70 71
+f 47 71 53
+f 47 53 72
+f 47 72 73
+f 47 73 52
+f 48 51 49
+f 49 51 50
+f 52 73 53
+f 53 71 62
+f 53 62 54
+f 53 73 72
+f 55 66 56
+f 55 57 67
+f 55 67 66
+f 56 66 74
+f 57 63 62
+f 57 62 67
+f 62 71 70
+f 62 70 69
+f 62 69 67
+f 66 68 74
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_32.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55d2608a8cba82db553af6ddc04a4df63ff98094
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_32.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v -0.11083882 -0.09627710 -0.07491982
+v -0.11539775 -0.09627710 -0.07491982
+v -0.11068801 -0.09627710 -0.07554926
+v -0.10740045 -0.09448898 0.03419161
+v -0.11552476 -0.09627710 -0.07535658
+v -0.11085470 -0.09627708 -0.08104723
+v -0.10890201 -0.09181538 -0.08102152
+v -0.10740045 -0.09432637 0.02960569
+v -0.10740045 -0.09433686 0.02981122
+v -0.10740045 -0.09439630 0.03109579
+v -0.10740045 -0.09448723 0.03407600
+v -0.10740045 -0.09443654 0.03548902
+v -0.10890333 -0.09427393 0.03157108
+v -0.12091583 -0.08561237 -0.07581899
+v -0.12091583 -0.08586585 -0.08070036
+v -0.11514507 -0.09627708 -0.08100869
+v -0.10905018 -0.09425120 0.03131417
+v -0.11152015 -0.09228084 0.03131418
+v -0.11426397 -0.08981223 0.03131419
+v -0.11126350 -0.09627708 -0.08150968
+v -0.10890201 -0.08917366 -0.08311537
+v -0.10890201 -0.09117374 -0.08163811
+v -0.10899329 -0.09192727 -0.08113714
+v -0.10740045 -0.09038040 0.02480142
+v -0.10740045 -0.09412880 0.02846242
+v -0.10889407 -0.09414806 0.03458982
+v -0.10890201 -0.09415505 0.03442283
+v -0.10740045 -0.09377568 0.03818663
+v -0.11552476 -0.08651663 0.02644568
+v -0.12091583 -0.08420848 -0.07315992
+v -0.12091583 -0.08446195 -0.08342364
+v -0.11490694 -0.09627708 -0.08150968
+v -0.10890333 -0.09414281 0.03457698
+v -0.11387767 -0.08945383 0.03492383
+v -0.11517021 -0.08651665 0.03131420
+v -0.11248326 -0.09503752 -0.08347506
+v -0.10890201 -0.08658615 -0.08431001
+v -0.10740045 -0.08659529 0.02413345
+v -0.11111003 -0.09155181 0.03637539
+v -0.10890201 -0.09414107 0.03458982
+v -0.10800504 -0.09365330 0.03782695
+v -0.10890201 -0.09304663 0.03741589
+v -0.10740045 -0.09339280 0.03900876
+v -0.11489636 -0.08246577 0.02644570
+v -0.12091583 -0.07851245 -0.07742468
+v -0.12091583 -0.08132549 -0.07498400
+v -0.12091583 -0.08379238 -0.07315992
+v -0.12091583 -0.08328358 -0.08342364
+v -0.10890201 -0.08156324 -0.08518349
+v -0.11402320 -0.09503752 -0.08347506
+v -0.10995906 -0.09031402 0.04105124
+v -0.10895492 -0.08937693 0.04398006
+v -0.11297144 -0.08651667 0.03776275
+v -0.11408802 -0.08651666 0.03533491
+v -0.11390677 -0.08365991 0.03466694
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+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_33.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d0e99916be958c782305e90a90142f0495a262e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_33.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.04208481 0.09481658 -0.07459999
+v 0.04206969 0.09481658 -0.07459999
+v 0.04588359 0.09481659 -0.07605586
+v 0.04076514 0.10349350 0.01569759
+v 0.03852865 0.09481659 -0.07625439
+v 0.03951274 0.10349350 0.01569759
+v 0.04612318 0.09481659 -0.07700439
+v 0.04456996 0.10356111 0.00987408
+v 0.04405600 0.10371881 0.01312775
+v 0.04227905 0.10391289 0.01707626
+v 0.04208405 0.10553669 0.02988139
+v 0.03862842 0.09481660 -0.07993820
+v 0.03840243 0.10668568 0.02988139
+v 0.03840243 0.10780695 0.02988140
+v 0.03841905 0.11099398 0.02988141
+v 0.03876598 0.10482127 -0.06122130
+v 0.04595615 0.09481661 -0.08065512
+v 0.04539986 0.10468092 -0.06608527
+v 0.04546411 0.10489580 -0.06268821
+v 0.04549131 0.10498938 -0.06122130
+v 0.04517991 0.11061098 0.02988141
+v 0.04520183 0.10736156 0.02988139
+v 0.04427821 0.10676540 0.02988139
+v 0.03926255 0.09910583 -0.07873599
+v 0.03950291 0.09481661 -0.08100805
+v 0.03880830 0.10473290 -0.06268822
+v 0.03890807 0.10452495 -0.06608527
+v 0.03901616 0.10016643 -0.07583526
+v 0.04208405 0.11252077 0.02988141
+v 0.04208405 0.10623369 -0.06122130
+v 0.04503858 0.09481661 -0.08243085
+v 0.04495921 0.09921501 -0.07891246
+v 0.04517916 0.10095842 -0.07539408
+v 0.04497055 0.10404318 -0.07096026
+v 0.04208481 0.10563062 -0.06608526
+v 0.04208405 0.10605346 -0.06268821
+v 0.04308174 0.10576752 -0.06268821
+v 0.04254511 0.11225562 0.02988141
+v 0.04208481 0.09942124 -0.07911098
+v 0.04282325 0.09481661 -0.08279481
+v 0.04111131 0.09481661 -0.08211099
+v 0.03922854 0.10403972 -0.07005585
+v 0.04018693 0.10349903 -0.07329848
+v 0.04382547 0.09481661 -0.08279481
+v 0.04460398 0.10362207 -0.07348599
+v 0.04193364 0.10422862 -0.07139040
+v 0.04193364 0.10218021 -0.07539407
+v 0.04347780 0.10362207 -0.07348599
+f 1 2 5
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+f 45 48 46
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_34.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad0e747c9a2da8c595520ae011813e6899793565
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_34.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.14049796 -0.02726592 0.01188632
+v -0.14000725 -0.03109740 0.01188631
+v -0.13870319 -0.02456908 0.01188633
+v -0.13810443 -0.02483253 0.00015093
+v -0.13821098 -0.02969252 -0.03956543
+v -0.13821098 -0.02976285 -0.03956543
+v -0.13572442 -0.03204727 0.00209027
+v -0.13572442 -0.03189913 0.00696122
+v -0.13572442 -0.03153343 0.01188630
+v -0.13976865 -0.03111614 0.00696123
+v -0.13078731 -0.03359236 -0.06608511
+v -0.13868368 -0.02454376 0.01188633
+v -0.13868068 -0.02454470 0.01183221
+v -0.13572442 -0.02413303 0.00696125
+v -0.13535226 -0.02443962 -0.00278066
+v -0.13331139 -0.02478557 -0.02013571
+v -0.13078731 -0.02664017 -0.07095604
+v -0.13448789 -0.02811614 -0.06608509
+v -0.13507614 -0.02767826 -0.05635219
+v -0.13478801 -0.02790330 -0.06122314
+v -0.13419676 -0.02835711 -0.07095604
+v -0.13370156 -0.02900130 -0.07582701
+v -0.13370156 -0.03060478 -0.07582701
+v -0.13419676 -0.03141123 -0.07095606
+v -0.13448789 -0.03168506 -0.06608511
+v -0.13478801 -0.03188669 -0.06122316
+v -0.13507614 -0.03197672 -0.05635221
+v -0.13209137 -0.03076354 0.00209028
+v -0.12584870 -0.03324818 -0.07582702
+v -0.12516890 -0.03303251 -0.07577290
+v -0.13276665 -0.03016907 0.01188631
+v -0.13237649 -0.03051601 0.00696123
+v -0.13530424 -0.03197674 -0.05147223
+v -0.13531474 -0.03197674 -0.05123770
+v -0.13078731 -0.03349388 -0.07095606
+v -0.13572442 -0.02401301 0.01188633
+v -0.13572442 -0.02401395 0.01183221
+v -0.13323936 -0.02478557 -0.02013571
+v -0.12584870 -0.02647230 -0.07582700
+v -0.13078731 -0.02712401 -0.07582700
+v -0.13332189 -0.02958454 -0.07837976
+v -0.13332189 -0.02988180 -0.07837976
+v -0.13078731 -0.03272869 -0.07582702
+v -0.12584870 -0.03180972 -0.08026500
+v -0.12516890 -0.03178816 -0.08025599
+v -0.12516890 -0.03144123 -0.07149728
+v -0.13217991 -0.02726592 0.01188632
+v -0.13269612 -0.02426432 0.01188633
+v -0.13260309 -0.02426712 0.00696125
+v -0.13264210 -0.02434400 0.00209030
+v -0.13274714 -0.02443962 -0.00278066
+v -0.12516890 -0.02665516 -0.07577288
+v -0.12516890 -0.02665891 -0.07644038
+v -0.12584870 -0.02775133 -0.08026498
+v -0.13078731 -0.02864215 -0.07933590
+v -0.13078731 -0.03089827 -0.07933590
+v -0.12516890 -0.02776164 -0.08025597
+v -0.12516890 -0.02825678 -0.07149726
+v -0.13172071 -0.02726591 0.00696124
+v -0.13218290 -0.02723873 0.01188632
+v -0.13267062 -0.02426713 0.01188633
+v -0.13266911 -0.02426713 0.01183221
+v -0.12516890 -0.02803454 -0.07172277
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+f 59 63 61
+f 59 61 60
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_35.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52094aa5fe383491011f3f86bb48847eae33e894
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_35.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.09127288 0.08136034 -0.08549791
+v -0.08633562 0.08136034 -0.08548911
+v -0.09829315 0.06684637 -0.08041761
+v -0.09829315 0.08136034 -0.08544069
+v -0.09149799 0.08667385 -0.08470766
+v -0.08597015 0.08673870 -0.08469446
+v -0.08409697 0.08136034 -0.08548471
+v -0.08409697 0.06732316 -0.08023051
+v -0.09829315 0.06684636 -0.07812836
+v -0.09829315 0.08569736 -0.08462183
+v -0.08927740 0.09450110 -0.08343315
+v -0.08825883 0.09450110 -0.08343315
+v -0.08409697 0.08641829 -0.08471647
+v -0.08409697 0.08453777 -0.08501364
+v -0.08409697 0.06732315 -0.07627935
+v -0.09829315 0.06725830 -0.07629036
+v -0.09829315 0.08816148 -0.08195397
+v -0.08989856 0.10001676 -0.07949298
+v -0.08744869 0.10001676 -0.07949298
+v -0.08409697 0.08874509 -0.08300173
+v -0.08409697 0.10345733 -0.06354311
+v -0.08633562 0.10304537 -0.06312488
+v -0.08926212 0.10293475 -0.06301262
+v -0.09829315 0.07148471 -0.07555516
+v -0.09829315 0.08944312 -0.07951724
+v -0.08959424 0.10433851 -0.07465255
+v -0.08734030 0.10433851 -0.07465255
+v -0.08409697 0.10416685 -0.06997940
+v -0.08409697 0.09087736 -0.08140146
+v -0.08409697 0.10377393 -0.06354311
+v -0.08633562 0.10444527 -0.06312488
+v -0.08926212 0.10462074 -0.06301262
+v -0.09829315 0.08629620 -0.07622646
+v -0.09829315 0.08944312 -0.07766603
+v -0.09007087 0.10522726 -0.07096553
+v -0.08595070 0.10512046 -0.07118125
+v -0.08409697 0.10424694 -0.06912534
+v -0.08409697 0.10423167 -0.06609429
+v -0.08633562 0.10580704 -0.06609428
+v -0.08982213 0.10544085 -0.06609428
+v -0.09829315 0.08825301 -0.07706511
+f 1 2 3
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+f 1 6 2
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+f 3 8 15
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+f 32 41 33
+f 34 40 35
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+f 36 39 37
+f 37 39 38
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_36.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81daf17f28a06e38302504cfb53d2bcef98d008c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_36.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.08409797 -0.08799986 0.04111637
+v -0.08409797 -0.08839668 0.04406501
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diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_37.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b391b6dcf8989cc9000d7226395e84b7537800d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_37.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_38.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3668534f276bd5943900432e075c62af4edc2e5a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_38.obj
@@ -0,0 +1,274 @@
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+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_39.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9576045e62eedfcf1609db7e3bab47018e2e5039
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_39.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.02165604 -0.11010271 0.02729159
+v 0.01792476 -0.11010271 0.02729159
+v 0.02164188 -0.11009253 0.02645308
+v 0.02162265 -0.11002559 0.02158332
+v 0.02483578 -0.09897539 -0.07583340
+v 0.02282390 -0.10626228 0.01670281
+v 0.02277937 -0.10626230 0.02158333
+v 0.02266704 -0.10626232 0.02729160
+v 0.01805733 -0.11002559 0.02158332
+v 0.01797536 -0.11009253 0.02645308
+v 0.01709187 -0.10693003 0.02729160
+v 0.01491200 -0.10381250 -0.00509823
+v 0.01487355 -0.10390850 -0.00764599
+v 0.01481485 -0.10403650 -0.01251575
+v 0.01477336 -0.10407867 -0.01738552
+v 0.01476526 -0.10405683 -0.02225528
+v 0.01480270 -0.10398696 -0.03199481
+v 0.01482497 -0.10395203 -0.03686457
+v 0.01484926 -0.10391274 -0.04173433
+v 0.01487759 -0.10386472 -0.04660409
+v 0.01490289 -0.10382253 -0.04947435
+v 0.02151031 -0.10988883 0.01670280
+v 0.02178052 -0.10563649 -0.06121339
+v 0.02481655 -0.09888664 -0.07830591
+v 0.02509384 -0.09524118 -0.07913365
+v 0.02510295 -0.09524119 -0.07649989
+v 0.02482870 -0.09898413 -0.07326415
+v 0.02086769 -0.10323511 0.02729161
+v 0.01814436 -0.10988883 0.01670280
+v 0.01692186 -0.10626232 0.02729160
+v 0.01491200 -0.10378195 -0.00509823
+v 0.01487355 -0.10371503 -0.00764599
+v 0.01481485 -0.10358845 -0.01251575
+v 0.01477336 -0.10346042 -0.01738552
+v 0.01476526 -0.10339349 -0.02225528
+v 0.01478246 -0.10401754 -0.02713579
+v 0.01480270 -0.10344582 -0.03199481
+v 0.01482497 -0.10352726 -0.03686457
+v 0.01484926 -0.10360580 -0.04173433
+v 0.01487759 -0.10368870 -0.04660409
+v 0.01490289 -0.10375270 -0.04947435
+v 0.01853905 -0.09524117 -0.08075690
+v 0.01775980 -0.10132619 -0.07096365
+v 0.01800572 -0.10529025 -0.06609390
+v 0.01766568 -0.10563649 -0.06121339
+v 0.02089906 -0.10939128 0.00209352
+v 0.02132309 -0.10972007 0.01183304
+v 0.02175016 -0.10529025 -0.06609390
+v 0.02111765 -0.10955422 0.00696328
+v 0.02062581 -0.10920214 -0.00277625
+v 0.02024328 -0.10896065 -0.00764601
+v 0.01996700 -0.10879335 -0.01059152
+v 0.02232701 -0.09952234 -0.07899392
+v 0.02142227 -0.09524117 -0.08253066
+v 0.02262656 -0.09524117 -0.08149866
+v 0.02467993 -0.09524118 -0.07969265
+v 0.02500479 -0.09638893 -0.07892940
+v 0.02120772 -0.10457598 -0.07096366
+v 0.02043657 -0.10401300 -0.07383392
+v 0.02237153 -0.09524120 -0.07448964
+v 0.01885480 -0.10323511 0.02729161
+v 0.02232701 -0.09524120 -0.07446814
+v 0.01825467 -0.10972007 0.01183304
+v 0.01869591 -0.10939128 0.00209352
+v 0.01848136 -0.10375298 0.02729161
+v 0.01824658 -0.09524119 -0.07641390
+v 0.01478246 -0.10339638 -0.02713579
+v 0.01915840 -0.09524117 -0.08230491
+v 0.01865543 -0.09625218 -0.08076765
+v 0.01860888 -0.10134508 -0.07560766
+v 0.01880217 -0.10457598 -0.07096366
+v 0.01969983 -0.10879335 -0.01059152
+v 0.01937193 -0.10896065 -0.00764601
+v 0.01897624 -0.10920214 -0.00277625
+v 0.01843886 -0.10955422 0.00696328
+v 0.01909768 -0.09971290 -0.07919817
+v 0.02070880 -0.09524117 -0.08253066
+v 0.01950552 -0.10401300 -0.07383392
+v 0.01832248 -0.09524119 -0.07569364
+f 1 2 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 28
+f 1 28 61
+f 1 61 65
+f 1 65 30
+f 1 30 11
+f 1 11 2
+f 2 9 10
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 2 14 15
+f 2 15 16
+f 2 16 17
+f 2 17 18
+f 2 18 19
+f 2 19 20
+f 2 20 21
+f 2 21 9
+f 3 10 9
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+f 4 29 22
+f 4 22 23
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+f 9 21 29
+f 11 30 12
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+f 14 34 15
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+f 17 36 67
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+f 18 38 39
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+f 42 68 69
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+f 43 70 44
+f 44 70 71
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+f 45 73 74
+f 45 74 64
+f 45 64 75
+f 45 75 63
+f 46 49 47
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+f 51 72 52
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+f 54 76 77
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+f 63 75 64
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+f 70 78 71
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_4.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb70cafa12eba2fc04d2ea7203bd47575ff6b598
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_4.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.04188210 0.11098306 0.04536165
+v -0.04188210 0.10665347 0.04441476
+v -0.01957536 0.10352115 0.04358165
+v -0.01890853 0.10604637 0.04404408
+v -0.02213368 0.11098307 0.04489922
+v -0.01138104 0.11591823 0.04444232
+v -0.02213368 0.11591823 0.04453407
+v -0.02707078 0.11591823 0.04457444
+v -0.03200789 0.11591823 0.04460013
+v -0.07688426 0.11591670 0.04476896
+v -0.06657404 0.11098306 0.04511575
+v -0.06429785 0.10349657 0.04361651
+v -0.06398367 0.10349657 0.04361651
+v -0.01957536 0.10352115 0.04295958
+v -0.01138104 0.11031297 0.04106587
+v -0.01138104 0.11197902 0.04432303
+v -0.01713245 0.11096463 0.04457442
+v -0.01138104 0.11283049 0.04435973
+v -0.01138104 0.11847880 0.04360006
+v -0.07688426 0.11871396 0.04383311
+v -0.07688426 0.11546791 0.04474692
+v -0.07688426 0.11197902 0.04445148
+v -0.06429785 0.10349657 0.04297793
+v -0.07688426 0.11167932 0.04411383
+v -0.07688426 0.10973354 0.04072088
+v -0.06398367 0.10349657 0.04297793
+v -0.04188210 0.10541935 0.02661509
+v -0.02213368 0.10558688 0.02661509
+v -0.02200544 0.10560994 0.02661509
+v -0.01812628 0.10642759 0.02661509
+v -0.01138104 0.11161478 0.03718848
+v -0.01138104 0.11865556 0.04106590
+v -0.01225305 0.11866479 0.04106590
+v -0.01719016 0.11870936 0.04106590
+v -0.02213368 0.11875086 0.04106590
+v -0.07688426 0.11919657 0.04106590
+v -0.06653557 0.10670732 0.02661509
+v -0.07688426 0.10974276 0.04067867
+v -0.01812628 0.11053434 0.02661511
+v -0.01138104 0.11504065 0.03696829
+v -0.01138104 0.11864174 0.04060164
+v -0.01225305 0.11857105 0.03836659
+v -0.07688426 0.11890302 0.03828401
+v -0.01719016 0.11860332 0.03832622
+v -0.02213368 0.11863098 0.03829135
+v -0.07688426 0.11123209 0.03650218
+v -0.07688426 0.11549100 0.03566359
+v -0.06624704 0.11140887 0.02661511
+v -0.01826734 0.11056969 0.02661511
+v -0.01138104 0.11856336 0.03837760
+v -0.01138104 0.11810535 0.03812986
+v -0.01138104 0.11591825 0.03701601
+v -0.06393878 0.11353755 0.02787761
+v -0.07688426 0.11886767 0.03798674
+v -0.06584310 0.11181770 0.02661511
+v -0.02214009 0.11133356 0.02661511
+v -0.06274618 0.11181770 0.02661511
+v -0.06432990 0.11353755 0.02787761
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 2
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+f 2 13 3
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+f 3 13 26
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+f 4 16 17
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+f 39 49 50
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+f 41 50 42
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+f 43 45 54
+f 44 53 45
+f 45 53 54
+f 47 54 55
+f 47 55 48
+f 49 56 50
+f 50 56 53
+f 53 57 55
+f 53 55 58
+f 53 58 54
+f 53 56 57
+f 54 58 55
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_40.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19b5ab049a2635b09a145fc39cd0911fbb51b241
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_40.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.06176820 0.09381741 -0.07612965
+v -0.06682870 0.09381741 -0.07615120
+v -0.06137065 0.09381742 -0.07801500
+v -0.06384575 0.10342456 0.01065005
+v -0.06393360 0.09854168 -0.03290679
+v -0.06435552 0.09854168 -0.03290679
+v -0.06732629 0.09381743 -0.08108542
+v -0.06447286 0.10342456 0.01065005
+v -0.06546611 0.10293470 0.00209598
+v -0.06654016 0.10670394 0.02660546
+v -0.06156429 0.09381743 -0.08095614
+v -0.06106606 0.10110934 -0.07095840
+v -0.06152518 0.10604323 -0.00278436
+v -0.06219782 0.10670394 0.02660546
+v -0.06560590 0.10018069 -0.07962020
+v -0.06630419 0.09622105 -0.08102076
+v -0.06477616 0.09460690 -0.08340169
+v -0.06569054 0.09381743 -0.08280915
+v -0.06747634 0.10604321 0.00209599
+v -0.06761612 0.10604323 -0.00278436
+v -0.06759560 0.10110934 -0.07095840
+v -0.06648950 0.10153933 -0.07620503
+v -0.06624776 0.11140900 0.02660548
+v -0.06656324 0.11076934 0.02157430
+v -0.06353027 0.09381744 -0.08345556
+v -0.06368737 0.09460690 -0.08340169
+v -0.06243892 0.09622105 -0.08102076
+v -0.06281980 0.10018069 -0.07962020
+v -0.06210997 0.10153933 -0.07620503
+v -0.06251843 0.10474826 -0.07095839
+v -0.06225809 0.10500905 -0.06607803
+v -0.06221706 0.11054908 0.01670473
+v -0.06219140 0.11076934 0.02157430
+v -0.06218115 0.10684315 0.02660546
+v -0.06528208 0.10419495 -0.07483681
+v -0.06499866 0.09381744 -0.08345556
+v -0.06656580 0.11054908 0.01670473
+v -0.06749557 0.10604325 -0.00765393
+v -0.06618172 0.10500905 -0.06607803
+v -0.06601436 0.10474826 -0.07095839
+v -0.06652733 0.11030768 0.01183515
+v -0.06584828 0.11181959 0.02660548
+v -0.06322185 0.10419495 -0.07483681
+v -0.06274734 0.11181959 0.02660548
+v -0.06254344 0.11156760 0.02660548
+v -0.06243571 0.11140900 0.02660548
+f 1 2 7
+f 1 7 18
+f 1 18 36
+f 1 36 25
+f 1 25 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 9
+f 2 9 10
+f 2 10 7
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 4
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+f 4 8 6
+f 4 6 5
+f 7 15 16
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+f 8 10 9
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+f 13 33 34
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+f 15 22 35
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+f 15 26 17
+f 17 36 18
+f 17 26 25
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+f 19 24 20
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+f 21 40 22
+f 21 38 41
+f 21 41 39
+f 22 40 35
+f 23 42 37
+f 23 37 24
+f 26 28 27
+f 28 43 29
+f 29 43 30
+f 30 40 42
+f 30 42 44
+f 30 44 31
+f 30 43 35
+f 30 35 40
+f 31 44 32
+f 32 44 45
+f 32 45 46
+f 32 46 33
+f 33 46 34
+f 37 42 41
+f 37 41 38
+f 39 41 42
+f 39 42 40
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_41.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90453241567a05d810b596c960bc0fe96996e004
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_41.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.10115127 0.07682067 0.07633425
+v -0.09600633 0.07746989 0.07633425
+v -0.10404303 0.07969579 0.07633426
+v -0.10890146 0.08775964 0.03770063
+v -0.10890146 0.08825172 0.03409398
+v -0.09869170 0.08382822 0.04836585
+v -0.09866499 0.08382822 0.04836585
+v -0.09346906 0.08056657 0.07633427
+v -0.08861306 0.08867680 0.03853704
+v -0.08811531 0.08837536 0.04107038
+v -0.08564360 0.09012722 0.04107039
+v -0.08409697 0.09156736 0.04107040
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+v -0.10890146 0.08800952 0.04476888
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+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_42.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7085d2fa4e52624ae656164797fc8a48402194c6
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_42.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+v 0.12027333 -0.08696575 -0.06002814
+v 0.11847159 -0.08938863 -0.06002815
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+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_43.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e33c14ae831fbf5b6c86974eb4a794687de3a42
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_43.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v -0.11678435 0.11924652 0.04106650
+v -0.11953250 0.11868805 0.03815366
+v -0.11962726 0.11874032 0.04106650
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+v -0.11678435 0.11891090 0.03743392
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+v -0.12209743 0.11778567 0.04106649
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+v -0.12585006 0.11466035 0.04439814
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+v -0.11678435 0.11873480 0.04386276
+v -0.13004809 0.11442376 0.04106783
+v -0.11678435 0.11524914 0.03141847
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+v -0.11678435 0.11594514 0.04481834
+v -0.11678435 0.11833314 0.04401456
+v -0.11678435 0.11170841 0.03141846
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+v -0.14560194 0.09114358 0.03635759
+v -0.14066477 0.10111099 0.03635492
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+v -0.11678435 0.11516381 0.04481155
+v -0.11678435 0.10856659 0.03766837
+v -0.13730382 0.09114357 0.03722236
+v -0.14058263 0.09114358 0.03558364
+v -0.14066477 0.09114358 0.03554568
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+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_44.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c14c53c06d8bc6d4c1ea225eda5ac3e4af35c9c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_44.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
+v -0.00272266 0.09481659 -0.08107366
+v -0.00254279 0.09481657 -0.07611600
+v -0.00073793 0.09481660 -0.08351376
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+v -0.01138104 0.08629590 -0.07603749
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+v -0.01138104 0.08160674 -0.07669595
+v -0.00730614 0.08159360 -0.07667874
+v 0.01739133 0.08629590 -0.07556410
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+f 36 65 37
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+f 41 68 79
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+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_45.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c37832719d3f485d155fe58d2afa483be9a493d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_45.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.05986377 -0.02753828 -0.08054747
+v 0.05986377 -0.02753829 -0.07915026
+v 0.05986377 -0.03234465 -0.08088802
+v -0.09666556 -0.02785871 -0.08036832
+v 0.05986377 -0.02826960 -0.07621319
+v -0.09666556 -0.02787836 -0.07615004
+v -0.02707313 -0.02782227 -0.07620290
+v -0.02212413 -0.02783278 -0.07621178
+v 0.05986377 -0.03260477 -0.08088802
+v -0.09666556 -0.03198145 -0.08037676
+v 0.03219228 -0.02819598 -0.07612572
+v 0.03712595 -0.02824085 -0.07613460
+v 0.04700863 -0.03220093 -0.07610936
+v 0.05986377 -0.02973149 -0.07621320
+v -0.09666556 -0.02839300 -0.07614209
+v -0.09620590 -0.02796109 -0.07612805
+v -0.00235878 -0.02801578 -0.07614864
+v 0.05986377 -0.03242179 -0.07629366
+v 0.04982787 -0.03470122 -0.07818203
+v 0.04982787 -0.03470122 -0.07833499
+v -0.09666556 -0.03198147 -0.07671886
+v 0.04700863 -0.03469350 -0.07832049
+v 0.04448050 -0.03467037 -0.07827371
+v 0.02724328 -0.02818756 -0.07612291
+v 0.05689131 -0.03200531 -0.07621180
+v -0.09620590 -0.03190224 -0.07612807
+v -0.09666556 -0.03196395 -0.07614211
+v -0.09127222 -0.03199970 -0.07615100
+v -0.08632323 -0.03209155 -0.07620292
+v 0.00257489 -0.02806837 -0.07613835
+v 0.04700863 -0.03469350 -0.07820214
+v 0.04448050 -0.03467037 -0.07826857
+f 1 2 5
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+f 1 9 3
+f 1 3 4
+f 1 4 2
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+f 2 7 8
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+f 7 11 8
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+f 22 32 23
+f 27 32 31
+f 27 29 28
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_46.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ade7674fa32a6ba98287e677eff987b785b57286
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_46.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.12376445 0.03397283 -0.06844742
+v 0.12376445 0.03454949 -0.06844741
+v 0.12339749 0.03397283 -0.06844742
+v 0.12387843 0.02935960 -0.07266540
+v 0.12441219 0.03219092 -0.07101185
+v 0.12339749 0.03454949 -0.06844741
+v 0.12439552 0.03492701 -0.07096542
+v 0.10533834 0.04186598 -0.08173756
+v 0.10135453 0.04186598 -0.08080153
+v 0.12296936 0.02935960 -0.07266540
+v 0.09618922 0.03198487 -0.07637085
+v 0.09618922 0.02899422 -0.07754285
+v 0.10135453 0.02417664 -0.08020593
+v 0.12456788 0.03174417 -0.07591057
+v 0.10588878 0.02417665 -0.08120966
+v 0.10605002 0.02417666 -0.08336409
+v 0.10617791 0.02417666 -0.08560168
+v 0.12387843 0.02935960 -0.07433634
+v 0.12459012 0.03512445 -0.07583707
+v 0.09618922 0.03535650 -0.07709995
+v 0.09618922 0.03520930 -0.07706514
+v 0.10561634 0.04186599 -0.08557648
+v 0.09816304 0.04186598 -0.08221139
+v 0.09618922 0.02762273 -0.08055403
+v 0.09756533 0.02417665 -0.08165834
+v 0.12280255 0.02993800 -0.07758346
+v 0.12402299 0.03322824 -0.07892175
+v 0.10524103 0.02417667 -0.08711017
+v 0.12402299 0.03481448 -0.07892174
+v 0.09618922 0.03664317 -0.08072806
+v 0.10410400 0.04186600 -0.08816605
+v 0.09816304 0.04186599 -0.08541403
+v 0.09618922 0.03198490 -0.08397326
+v 0.09804072 0.02417666 -0.08537927
+v 0.11808483 0.02979256 -0.08254213
+v 0.12107337 0.03151041 -0.08073194
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+v 0.10437922 0.03692026 -0.08819314
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+v 0.09618922 0.03446643 -0.08365801
+v 0.09948635 0.04186600 -0.08785082
+v 0.09948078 0.04185908 -0.08784888
+v 0.09721783 0.03198490 -0.08551462
+v 0.09951970 0.02417667 -0.08781607
+v 0.09884138 0.02417667 -0.08679687
+v 0.10450432 0.03198491 -0.08820283
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+v 0.09927506 0.03692026 -0.08792045
+v 0.09925004 0.03198491 -0.08794948
+v 0.09941407 0.02704783 -0.08787021
+v 0.10171872 0.03198491 -0.08820283
+v 0.10188274 0.02704783 -0.08819318
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+f 1 6 3
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+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 8
+f 2 8 9
+f 2 9 6
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+f 50 54 57
+f 52 56 54
+f 52 54 53
+f 54 56 57
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_47.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b27d4a9ffb0b6302a8ec113d857fc97a697ac2b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_47.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.12443488 0.03198481 -0.08053708
+v -0.11672778 0.03198481 -0.08052901
+v -0.11672778 0.02956712 -0.07911155
+v -0.12443488 0.03118714 -0.08004307
+v -0.12443488 0.03470932 -0.08017705
+v -0.11672778 0.03256966 -0.08044748
+v -0.11672778 0.02913946 -0.07884597
+v -0.12443488 0.02920192 -0.07878300
+v -0.12443488 0.03580009 -0.08002448
+v -0.12090799 0.03579597 -0.07999624
+v -0.11672778 0.03578568 -0.07995345
+v -0.11672778 0.02913945 -0.07745271
+v -0.12443488 0.02911130 -0.07642270
+v -0.12443488 0.03612409 -0.07702567
+v -0.11672778 0.03574723 -0.07586812
+v -0.11672778 0.03205343 -0.07507383
+v -0.12443488 0.03331031 -0.07229054
+v -0.12443488 0.03124684 -0.07419155
+v -0.12443488 0.03603828 -0.07569780
+v -0.12443488 0.03516923 -0.07280715
+v -0.12443488 0.03469901 -0.07249718
+v -0.12443488 0.03333160 -0.07229054
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 13
+f 1 13 18
+f 1 18 17
+f 1 17 22
+f 1 22 21
+f 1 21 20
+f 1 20 19
+f 1 19 14
+f 1 14 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 2 6 11
+f 2 11 15
+f 2 15 16
+f 2 16 12
+f 2 12 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 5 9 6
+f 6 9 10
+f 6 10 11
+f 7 12 13
+f 7 13 8
+f 9 14 10
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+f 12 16 17
+f 12 17 18
+f 12 18 13
+f 14 19 15
+f 15 19 20
+f 15 20 21
+f 15 21 16
+f 16 21 22
+f 16 22 17
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_48.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da0fccc68cd4ccb75098b9c30c6e22dc0421dc89
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_48.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.01768773 0.10014341 -0.07183831
+v -0.01764296 0.09381741 -0.07608129
+v -0.01728197 0.09381742 -0.07796191
+v -0.01768773 0.10117318 -0.07183831
+v -0.01884906 0.09744798 -0.07183832
+v -0.01973335 0.09720373 -0.07183832
+v -0.02212597 0.09381741 -0.07522932
+v -0.01748065 0.09381743 -0.08088245
+v -0.01812148 0.10150105 -0.07620056
+v -0.01820823 0.10441540 -0.07183830
+v -0.04187977 0.09632910 -0.07183833
+v -0.04187977 0.09381741 -0.07498735
+v -0.01873153 0.10011814 -0.07932142
+v -0.01932199 0.09381744 -0.08333480
+v -0.01940594 0.09413538 -0.08331453
+v -0.01883227 0.10427899 -0.07481961
+v -0.01836494 0.10483568 -0.07183829
+v -0.04479008 0.09770432 -0.07183832
+v -0.04582549 0.09381741 -0.07642567
+v -0.04309706 0.09381741 -0.07526083
+v -0.02212597 0.10234929 -0.07691971
+v -0.02018109 0.09413538 -0.08331453
+v -0.04451305 0.09410678 -0.08329203
+v -0.04187977 0.09956805 -0.07926402
+v -0.02027064 0.09381744 -0.08333480
+v -0.02137880 0.10505681 -0.07183829
+v -0.04187977 0.10203684 -0.07604074
+v -0.04187977 0.10366729 -0.07360526
+v -0.04479848 0.10107086 -0.07183831
+v -0.04586746 0.09381743 -0.08066862
+v -0.04423601 0.09381744 -0.08330329
+v -0.04454942 0.09381744 -0.08329880
+v -0.04474811 0.09381744 -0.08305570
+v -0.04470893 0.09916318 -0.07897254
+v -0.04437313 0.10359688 -0.07344319
+v -0.04187977 0.10396764 -0.07183830
+v -0.04482087 0.10092676 -0.07537447
+v -0.04440950 0.10363868 -0.07183830
+f 1 2 3
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diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_49.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fe7ffdc1ee421f677c42ea0aa5a01aef9c483d5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_49.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_5.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d4f370051e63b39f5587a5aa5b502d6658dbe52
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_5.obj
@@ -0,0 +1,442 @@
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diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_50.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1581dbaa2647cd18b7d0509ad58c47519a3d12b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_50.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.03200701 -0.07803728 -0.08070611
+v -0.03693950 -0.07853907 -0.07761712
+v -0.01718736 -0.07804329 -0.08070611
+v -0.01138104 -0.07855707 -0.08403967
+v -0.03693950 -0.07803878 -0.08070611
+v -0.03200701 -0.07854658 -0.07762642
+v -0.01138104 -0.07804929 -0.08070611
+v -0.01225044 -0.07804779 -0.08070611
+v -0.05669608 -0.07807633 -0.08070876
+v -0.05669608 -0.07859315 -0.07780985
+v -0.03830569 -0.08319483 -0.07199741
+v -0.01138104 -0.07813643 -0.08129360
+v -0.01138104 -0.08157676 -0.08557487
+v -0.05669608 -0.07859012 -0.08396391
+v -0.02212872 -0.07856911 -0.07764636
+v -0.01718736 -0.07858114 -0.07765699
+v -0.01138104 -0.07850301 -0.07820196
+v -0.05669608 -0.08157379 -0.07640625
+v -0.04188087 -0.08333603 -0.07223799
+v -0.04169900 -0.08612136 -0.07221673
+v -0.03836336 -0.08651198 -0.07203065
+v -0.01138104 -0.08157679 -0.07600086
+v -0.01138104 -0.07860066 -0.07767161
+v -0.01225044 -0.07859765 -0.07766895
+v -0.01718736 -0.08157676 -0.08556158
+v -0.01138104 -0.08535964 -0.08467636
+v -0.03911743 -0.09338510 -0.08333659
+v -0.03983601 -0.09338510 -0.08333659
+v -0.05669608 -0.08157676 -0.08546587
+v -0.05669608 -0.08540924 -0.07687014
+v -0.03992916 -0.09006799 -0.07297702
+v -0.03912186 -0.09006799 -0.07297702
+v -0.01138104 -0.08541676 -0.07660165
+v -0.01138104 -0.08560151 -0.08398121
+v -0.03862507 -0.09338511 -0.08248193
+v -0.01138104 -0.08672977 -0.08070614
+v -0.04204498 -0.09338511 -0.08053469
+v -0.05669608 -0.08534612 -0.08464446
+v -0.05669608 -0.08671174 -0.08070614
+v -0.04213814 -0.09338513 -0.07565797
+v -0.03964527 -0.09338513 -0.07547986
+v -0.03783108 -0.09338513 -0.07546259
+v -0.03768470 -0.09338511 -0.08072078
+v -0.04255066 -0.09338512 -0.07837613
+f 1 2 3
+f 1 3 4
+f 1 4 5
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+f 2 5 9
+f 2 9 10
+f 2 10 11
+f 2 11 6
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+f 4 22 33
+f 4 33 36
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+f 4 26 13
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+f 6 15 7
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+f 9 30 18
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+f 13 25 14
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+f 14 25 29
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+f 18 30 20
+f 18 20 19
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+f 21 32 33
+f 21 33 22
+f 25 28 29
+f 26 34 27
+f 27 35 43
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+f 27 41 40
+f 27 40 44
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+f 27 36 35
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+f 32 42 33
+f 33 42 36
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+f 37 39 38
+f 39 44 40
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_51.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db94aeadc59c2043cc8af497d7bc6b6a4dc93fe5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_51.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.11132166 0.08085078 -0.07421760
+v -0.11414833 0.08085079 -0.07574565
+v -0.10890223 0.08085079 -0.07552453
+v -0.11112114 0.08250493 -0.05188101
+v -0.11502062 0.08250493 -0.05188101
+v -0.11678063 0.08085080 -0.07786115
+v -0.10890223 0.08085082 -0.08557071
+v -0.10890223 0.08342370 -0.06664335
+v -0.10975139 0.08598293 -0.05188099
+v -0.11595616 0.08629737 -0.05188099
+v -0.11678063 0.08144960 -0.07555093
+v -0.11678063 0.08085081 -0.08217467
+v -0.11052342 0.08085082 -0.08535618
+v -0.10890223 0.08135939 -0.08559711
+v -0.10890223 0.10329907 -0.05342548
+v -0.10963261 0.08629737 -0.05188099
+v -0.11619525 0.10604427 -0.05188092
+v -0.11678063 0.08629745 -0.07263012
+v -0.11678063 0.08510804 -0.07333970
+v -0.11678063 0.08194726 -0.08376873
+v -0.11482549 0.08085082 -0.08393044
+v -0.11103862 0.08085082 -0.08520107
+v -0.11103090 0.08135939 -0.08530998
+v -0.11582350 0.08617171 -0.08405584
+v -0.11376578 0.09422687 -0.08331324
+v -0.10890223 0.08476630 -0.08503604
+v -0.10890223 0.10403186 -0.05331657
+v -0.11003675 0.10553570 -0.05188092
+v -0.11406812 0.10878400 -0.05188091
+v -0.11618599 0.10604429 -0.05635286
+v -0.11651146 0.10110625 -0.07096341
+v -0.11678063 0.09112618 -0.07608224
+v -0.11678063 0.09087463 -0.07573902
+v -0.11678063 0.08586000 -0.08395023
+v -0.11305623 0.09422687 -0.08331324
+v -0.11464193 0.09993600 -0.07942544
+v -0.10890223 0.08646428 -0.08453109
+v -0.10890223 0.10406467 -0.05530007
+v -0.11004986 0.10555483 -0.05188092
+v -0.11288038 0.10878400 -0.05188091
+v -0.11403727 0.10876488 -0.05635285
+v -0.11615283 0.10604430 -0.06122414
+v -0.11537694 0.10526781 -0.07096339
+v -0.11553119 0.10139063 -0.07607561
+v -0.11678063 0.09107698 -0.08046837
+v -0.11678063 0.08837279 -0.08231327
+v -0.11214228 0.09993600 -0.07942544
+v -0.11456172 0.10436824 -0.07461355
+v -0.10890223 0.08957587 -0.08272910
+v -0.10890223 0.10410843 -0.06029346
+v -0.11044629 0.10607709 -0.05635286
+v -0.11267754 0.10856253 -0.05188091
+v -0.11291508 0.10876488 -0.05635285
+v -0.11048640 0.10611265 -0.06122414
+v -0.11398174 0.10874303 -0.06122413
+v -0.11379586 0.10865828 -0.06441224
+v -0.11541550 0.10642711 -0.06605911
+v -0.11227109 0.10436824 -0.07461355
+v -0.11108026 0.10139063 -0.07607561
+v -0.10890223 0.09340111 -0.08008883
+v -0.10890223 0.09073793 -0.08200963
+v -0.10890223 0.10410570 -0.06122415
+v -0.11295519 0.10874303 -0.06122413
+v -0.10890223 0.10408657 -0.06382150
+v -0.10890223 0.10399088 -0.06466308
+v -0.11315109 0.10865828 -0.06441224
+v -0.11136177 0.10526781 -0.07096339
+v -0.11086894 0.10597869 -0.06603601
+f 1 2 6
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+f 39 50 51
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+f 41 55 42
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+f 42 57 43
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+f 48 66 58
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+f 65 68 66
+f 65 67 68
+f 66 68 67
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_52.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57f8442e3011d71555f2234a3e1b2296188ef63b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_52.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.01777435 -0.11043332 0.03112901
+v -0.01792517 -0.11043332 0.03112901
+v -0.01800555 -0.11017985 0.02156842
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+v -0.01731731 -0.10132553 -0.07096294
+v -0.01715348 -0.10626052 0.00696679
+v -0.01708458 -0.10626053 0.01182314
+v -0.01705702 -0.10626055 0.01670122
+v -0.01705549 -0.10626057 0.02156843
+v -0.01717645 -0.10626060 0.03112903
+v -0.02248561 -0.11021466 0.03112902
+v -0.02189842 -0.11023619 0.02644650
+v -0.02191986 -0.11017985 0.02156842
+v -0.01869073 -0.10946417 0.00208870
+v -0.01849092 -0.10964309 0.00696678
+v -0.01831254 -0.10981538 0.01182313
+v -0.01872135 -0.10451595 -0.06826860
+v -0.01890891 -0.10927697 -0.00277852
+v -0.01915925 -0.10907651 -0.00765659
+v -0.01941648 -0.10889097 -0.01170899
+v -0.01888748 -0.10435195 -0.07096295
+v -0.01803005 -0.10156073 -0.07571065
+v -0.01847943 -0.10007153 -0.07969785
+v -0.01851618 -0.09638913 -0.07983907
+v -0.01803464 -0.09610423 -0.07588446
+v -0.01905820 -0.10345780 0.03112904
+v -0.01931313 -0.09351180 -0.07754669
+v -0.02185479 -0.10999264 0.01670121
+v -0.02252848 -0.11004901 0.03112902
+v -0.02475626 -0.10438199 -0.00765657
+v -0.02482746 -0.10442007 -0.01252379
+v -0.02487645 -0.10437533 -0.01739100
+v -0.02487186 -0.10428752 -0.02225822
+v -0.02465827 -0.10387823 -0.06120680
+v -0.02462918 -0.10384011 -0.06410757
+v -0.02174914 -0.10981538 0.01182313
+v -0.02159220 -0.10964309 0.00696678
+v -0.02137249 -0.10946417 0.00208870
+v -0.02107085 -0.10927697 -0.00277852
+v -0.02063448 -0.10907651 -0.00765659
+v -0.02013457 -0.10889097 -0.01170899
+v -0.02118875 -0.10435195 -0.07096295
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+v -0.01931313 -0.09351179 -0.07893732
+v -0.02046300 -0.10345780 0.03112904
+v -0.02022108 -0.09351180 -0.07754669
+v -0.02314016 -0.10659521 0.03112903
+v -0.02462152 -0.10396790 0.00038302
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+v -0.02186857 -0.10443312 -0.06826860
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+v -0.02462918 -0.09878279 -0.07471112
+v -0.02462152 -0.10375421 0.00038302
+v -0.02304676 -0.10647263 0.03112903
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+v -0.02459702 -0.09885406 -0.06343396
+v -0.02467587 -0.10367137 -0.00277850
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+f 54 65 55
+f 55 65 62
+f 63 66 67
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_53.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8a71db6b54f13562d09f7676be1bc43bb645144
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_53.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.08159664 0.10065942 -0.04660577
+v 0.07768854 0.10133378 -0.06268973
+v 0.08043013 0.10098219 -0.06268973
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+v 0.08471258 0.10251831 -0.03198975
+v 0.08474538 0.10252242 -0.02712379
+v 0.08159664 0.10066249 -0.04173075
+v 0.07765075 0.10265761 -0.06268972
+v 0.08159664 0.10074392 -0.03198976
+v 0.07772205 0.10146878 -0.04660577
+v 0.07769211 0.10153994 -0.05147173
+v 0.07766430 0.10158431 -0.06122178
+v 0.08343697 0.10231015 -0.06268972
+v 0.08462345 0.10256988 -0.03686478
+v 0.08430615 0.10307310 -0.06122177
+v 0.08471258 0.10473502 -0.03198975
+v 0.08474538 0.10488450 -0.02712378
+v 0.08493504 0.10696078 0.02988139
+v 0.08474965 0.10255127 -0.02224876
+v 0.07765075 0.10527745 -0.06268971
+v 0.07780405 0.10643496 0.02988139
+v 0.08159664 0.10085112 -0.02712380
+v 0.07774344 0.10157393 -0.04173075
+v 0.08426907 0.10314838 -0.06268972
+v 0.08430615 0.10407423 -0.06122177
+v 0.08493504 0.10962598 0.02988140
+v 0.08400953 0.10634629 0.02988139
+v 0.08415784 0.10347703 0.00537033
+v 0.08426408 0.10335950 0.00209917
+v 0.08467693 0.10268631 -0.01738280
+v 0.07887929 0.10871162 -0.01251682
+v 0.07903545 0.10858481 -0.01592390
+v 0.08159664 0.10583007 -0.06122176
+v 0.08159664 0.10569296 -0.06268971
+v 0.07780405 0.11007860 0.02988140
+v 0.07803079 0.10974047 0.01670614
+v 0.07844720 0.10296153 0.00209917
+v 0.07869391 0.10322442 0.00696514
+v 0.07895416 0.10345433 0.01028160
+v 0.08050572 0.10530907 0.02988139
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+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_54.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5322d25e4401134a3d76b5ae6cd30b9009c04e7
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_54.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.00257299 -0.04706414 -0.08023552
+v -0.01137484 -0.04713231 -0.08028634
+v 0.00257299 -0.04706415 -0.07623138
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+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_55.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cd51e8a76ab3827ec3f48cd311bfb6d8f834505
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_55.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v 0.06184033 -0.11163978 0.02729157
+v 0.06435205 -0.10876453 -0.01042045
+v 0.06451446 -0.10890420 -0.00764246
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+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_56.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e558e896fc61a04f84ed1d2dc4677ce63a31f7b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_56.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.00219686 -0.11041246 0.02729158
+v -0.00183797 -0.11041246 0.02729158
+v 0.00224229 -0.11038126 0.02158319
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diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_57.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d68c41ac34418a77f96a309d3c7341ba4de38890
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_57.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_58.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13d5bb44f302de55c4f1c52deb962747420a3dd4
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_58.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_59.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ac3e8f47f946f626e1559672910d15794deeb23
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_59.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_6.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44ab51b0b928e7d99227390e78b7c5a0658d6021
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_6.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v 0.07138010 0.11263841 0.04078083
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+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_60.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..627e75ceb9ae0487b2fb6461dcabdb6379b4469a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_60.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.10890146 0.11968660 0.04106780
+v -0.10890146 0.11926274 0.04275866
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+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_61.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0c6dace8ebe238be030186936bab98f04aa7553
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_61.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.09809247 -0.03711376 -0.08191784
+v 0.09809966 -0.03711375 -0.08518206
+v 0.09512274 -0.04667520 -0.08060327
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+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_62.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8518a44749b76796e9cead99019655a4f7ddd18
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_62.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.04700893 -0.01167009 -0.07597798
+v 0.05197025 -0.01152252 -0.08000501
+v 0.05195570 -0.01152292 -0.07601307
+v 0.05197025 -0.01151358 -0.07601307
+v 0.04700893 -0.00816571 -0.07597797
+v -0.09619997 -0.01186943 -0.07598417
+v 0.04206216 -0.01168722 -0.07597922
+v 0.04700893 -0.01167008 -0.08011853
+v 0.05197025 -0.00829418 -0.08000500
+v 0.05195570 -0.01152291 -0.08000584
+v 0.05197025 -0.00828524 -0.07602420
+v 0.05195570 -0.00828485 -0.07601306
+v 0.04700893 -0.00816570 -0.08011852
+v -0.09666556 -0.00798116 -0.08019488
+v -0.09666556 -0.00799635 -0.07600686
+v -0.09619997 -0.00807071 -0.07598416
+v -0.09666556 -0.01194301 -0.07601513
+v -0.02212941 -0.01184646 -0.07599862
+v -0.01718264 -0.01183750 -0.07599656
+v -0.00731821 -0.01180947 -0.07599243
+v 0.04206216 -0.01168721 -0.08012266
+v 0.05195570 -0.00828484 -0.08000583
+v 0.04206216 -0.00816220 -0.08012265
+v -0.09666556 -0.01136874 -0.08019489
+v 0.01242521 -0.00814545 -0.08013957
+v -0.09666556 -0.01195820 -0.07650262
+v -0.02212941 -0.01184645 -0.08014040
+v -0.01718264 -0.01183749 -0.08014165
+v -0.00237144 -0.01179544 -0.08014288
+v 0.00256078 -0.01178143 -0.08014288
+v 0.00750754 -0.01176702 -0.08014165
+v 0.01242521 -0.01175184 -0.08013958
+v -0.09666556 -0.01195819 -0.08019117
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 16
+f 1 16 6
+f 1 6 7
+f 1 7 21
+f 1 21 8
+f 1 8 2
+f 2 9 11
+f 2 11 4
+f 2 4 3
+f 2 8 10
+f 2 10 22
+f 2 22 9
+f 4 11 12
+f 4 12 5
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+f 5 22 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 6 16 15
+f 6 15 17
+f 6 17 18
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+f 6 19 20
+f 6 20 7
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+f 7 28 21
+f 8 21 23
+f 8 23 13
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+f 9 22 11
+f 11 22 12
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+f 14 24 33
+f 14 33 26
+f 14 26 17
+f 14 17 15
+f 14 23 25
+f 14 25 32
+f 14 32 24
+f 17 26 18
+f 18 27 28
+f 18 28 19
+f 18 26 33
+f 18 33 27
+f 21 28 29
+f 21 29 30
+f 21 30 31
+f 21 31 32
+f 21 32 25
+f 21 25 23
+f 24 32 33
+f 27 33 28
+f 28 33 29
+f 29 33 30
+f 30 33 31
+f 31 33 32
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_63.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec57651663f30040ce1af3d9e0c5e1ba07cf9c64
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_63.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v -0.12443488 0.01223445 -0.08078932
+v -0.12090799 0.01223445 -0.08086830
+v -0.12443488 0.00867255 -0.07972715
+v -0.12443488 0.01532465 -0.07933313
+v -0.11672778 0.01550391 -0.07957805
+v -0.11672778 0.01223445 -0.08092774
+v -0.12090799 0.00875690 -0.07968900
+v -0.12443488 0.00832317 -0.07576242
+v -0.12443488 0.01537526 -0.07654949
+v -0.11672778 0.01550390 -0.07641017
+v -0.11672778 0.00885532 -0.07962067
+v -0.12443488 0.00934737 -0.07242506
+v -0.11672778 0.00885531 -0.07708193
+v -0.11672778 0.00887991 -0.07646255
+v -0.12443488 0.01537526 -0.07577570
+v -0.12443488 0.01379710 -0.07327069
+v -0.12443488 0.01201439 -0.07186335
+v -0.11672778 0.01501675 -0.07607830
+v -0.11672778 0.01175712 -0.07487417
+v -0.11672778 0.01220279 -0.07465676
+f 1 2 3
+f 1 3 8
+f 1 8 12
+f 1 12 17
+f 1 17 16
+f 1 16 15
+f 1 15 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 6 3
+f 2 5 6
+f 3 6 7
+f 3 7 8
+f 4 9 5
+f 5 9 15
+f 5 15 10
+f 5 10 18
+f 5 18 20
+f 5 20 19
+f 5 19 14
+f 5 14 13
+f 5 13 11
+f 5 11 6
+f 6 11 7
+f 7 11 8
+f 8 11 13
+f 8 13 14
+f 8 14 12
+f 10 15 16
+f 10 16 17
+f 10 17 18
+f 12 19 20
+f 12 20 17
+f 12 14 19
+f 17 20 18
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_64.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5269db31043b9384f883aa045c00666e91d03c0f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_64.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.14133395 -0.00751529 0.01188639
+v -0.13929718 -0.01067776 0.00209557
+v -0.13953299 -0.01064792 0.01188638
+v -0.14000934 -0.00410831 0.01188640
+v -0.13889205 -0.00449644 -0.00765018
+v -0.13863092 -0.00468212 -0.01251406
+v -0.13837138 -0.00489487 -0.01739596
+v -0.13822419 -0.00502084 -0.02005308
+v -0.13825110 -0.00975845 -0.03568057
+v -0.13825110 -0.01005893 -0.03568057
+v -0.13863724 -0.01044717 -0.02225986
+v -0.13876069 -0.01053584 -0.01739598
+v -0.13916583 -0.01069827 -0.00277732
+v -0.13572690 -0.01160722 0.01188638
+v -0.13572690 -0.01201214 -0.00765020
+v -0.13572690 -0.01203549 -0.00277732
+v -0.13572690 -0.01193846 0.00209557
+v -0.13999509 -0.00407658 0.01188641
+v -0.13999193 -0.00407658 0.01183237
+v -0.13914526 -0.00435088 -0.00277730
+v -0.13331032 -0.00502539 -0.05010105
+v -0.13438330 -0.00835764 -0.07096170
+v -0.13391961 -0.00899777 -0.07582559
+v -0.13391961 -0.01095648 -0.07582560
+v -0.13438330 -0.01144641 -0.07096171
+v -0.13508122 -0.01175721 -0.05635206
+v -0.13532809 -0.01175629 -0.05147917
+v -0.13572690 -0.01185437 -0.02712374
+v -0.13572690 -0.01189544 -0.02225986
+v -0.13209016 -0.01111076 0.00695945
+v -0.13233071 -0.01094094 0.01188638
+v -0.12584851 -0.01319514 -0.07582561
+v -0.12516642 -0.01307010 -0.07582561
+v -0.13078612 -0.01305705 -0.07096172
+v -0.13576805 -0.00366692 0.01188641
+v -0.13572690 -0.00366226 0.01183237
+v -0.13572690 -0.00373224 0.00695948
+v -0.13968491 -0.00413256 0.00695947
+v -0.13939688 -0.00423706 0.00209559
+v -0.13320745 -0.00502539 -0.05010105
+v -0.12584851 -0.00673485 -0.07582558
+v -0.13078612 -0.00656317 -0.07096169
+v -0.13078612 -0.00709598 -0.07582559
+v -0.13344484 -0.00964444 -0.07859080
+v -0.13344484 -0.01035458 -0.07859080
+v -0.13078612 -0.01282281 -0.07582561
+v -0.13479635 -0.01168721 -0.06121594
+v -0.13232596 -0.01091294 0.01188638
+v -0.12516642 -0.01140162 -0.07143909
+v -0.12584851 -0.01196056 -0.08013103
+v -0.12516642 -0.01194376 -0.08011302
+v -0.13572690 -0.00366319 0.01188641
+v -0.13275009 -0.00463368 0.01188640
+v -0.12516642 -0.00686549 -0.07582559
+v -0.12516642 -0.00692895 -0.07641105
+v -0.12584851 -0.00801514 -0.08013102
+v -0.13078612 -0.00874021 -0.07943747
+v -0.13078612 -0.01125322 -0.07943748
+v -0.13182271 -0.00751529 0.01188639
+v -0.12516642 -0.00843229 -0.07143908
+v -0.12516642 -0.00803287 -0.08011301
+v -0.13182904 -0.00749010 0.01188639
+v -0.12516642 -0.00817474 -0.07183540
+f 1 2 3
+f 1 3 14
+f 1 14 31
+f 1 31 48
+f 1 48 59
+f 1 59 62
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+f 1 53 52
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+f 1 35 18
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+f 14 30 31
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+f 15 34 16
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+f 16 32 17
+f 18 35 36
+f 18 36 19
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+f 21 37 40
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+f 21 42 43
+f 21 43 22
+f 22 43 23
+f 23 43 44
+f 23 44 45
+f 23 45 24
+f 24 45 46
+f 24 46 25
+f 25 46 34
+f 25 34 47
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+f 26 34 27
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+f 28 34 29
+f 30 33 31
+f 31 33 49
+f 31 49 48
+f 32 34 46
+f 32 46 50
+f 32 50 51
+f 32 51 33
+f 33 51 61
+f 33 61 55
+f 33 55 54
+f 33 54 63
+f 33 63 60
+f 33 60 49
+f 35 52 36
+f 36 52 53
+f 36 53 54
+f 36 54 41
+f 36 41 37
+f 37 41 40
+f 41 54 55
+f 41 55 56
+f 41 56 43
+f 41 43 42
+f 43 56 57
+f 43 57 44
+f 44 57 58
+f 44 58 45
+f 45 58 46
+f 46 58 50
+f 48 49 59
+f 49 60 59
+f 50 56 61
+f 50 61 51
+f 50 58 57
+f 50 57 56
+f 53 62 54
+f 54 62 59
+f 54 59 63
+f 55 61 56
+f 59 60 63
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_65.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..131133d1bd0c3df2b53d0bfcfbc6ce51bffa50fd
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_65.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.12954693 -0.00741182 -0.06962436
+v 0.12945804 -0.00967809 -0.06962437
+v 0.12871920 -0.01019123 -0.07380105
+v 0.12871920 -0.00890751 -0.07380104
+v 0.12919139 -0.00736639 -0.07118195
+v 0.12885253 -0.00478886 -0.06970278
+v 0.12886364 -0.00478213 -0.06962435
+v 0.12924140 -0.01058494 -0.06962437
+v 0.12910807 -0.01050082 -0.07096674
+v 0.12608601 -0.01098534 -0.07559027
+v 0.12446387 -0.01068249 -0.07934380
+v 0.12446387 -0.00854072 -0.07934379
+v 0.10413164 -0.00022428 -0.08817679
+v 0.10613153 -0.00022429 -0.08535160
+v 0.10598709 -0.00022429 -0.08335993
+v 0.10585932 -0.00022430 -0.08176039
+v 0.10325946 -0.00022430 -0.08095607
+v 0.10135401 -0.00022430 -0.08056029
+v 0.12719150 -0.00478213 -0.06962435
+v 0.12701929 -0.01119062 -0.06962437
+v 0.10535379 -0.01741233 -0.08175680
+v 0.10566489 -0.01741232 -0.08558877
+v 0.10414275 -0.01741231 -0.08818779
+v 0.11965858 -0.01064714 -0.08377217
+v 0.11965858 -0.00880484 -0.08377216
+v 0.10201509 -0.00022428 -0.08817679
+v 0.10496493 -0.00751607 -0.08825525
+v 0.09823196 -0.00022430 -0.08209416
+v 0.07280000 -0.00811338 -0.07609365
+v 0.12526383 -0.00584881 -0.06962435
+v 0.12604157 -0.01127306 -0.06962437
+v 0.10533157 -0.01741233 -0.08175133
+v 0.10224286 -0.01741231 -0.08818779
+v 0.10495382 -0.01245073 -0.08824980
+v 0.10183732 -0.00257972 -0.08819504
+v 0.10095959 -0.00766244 -0.08821330
+v 0.09887637 -0.00940211 -0.08801997
+v 0.09904858 -0.00611289 -0.08795794
+v 0.10073182 -0.00022428 -0.08799440
+v 0.09823196 -0.00022429 -0.08534066
+v 0.07280000 -0.00731251 -0.08071352
+v 0.07280000 -0.01161290 -0.07609366
+v 0.12261953 -0.00809826 -0.06962436
+v 0.12337505 -0.01089788 -0.06962437
+v 0.10135401 -0.01741233 -0.08086858
+v 0.10222064 -0.01741231 -0.08818415
+v 0.10223175 -0.01738707 -0.08818779
+v 0.10109291 -0.01212770 -0.08820784
+v 0.09887637 -0.01026858 -0.08801998
+v 0.07280000 -0.01246757 -0.08084668
+v 0.09955411 -0.00022428 -0.08777554
+v 0.09886526 -0.00022428 -0.08661555
+v 0.07280000 -0.01246758 -0.07994022
+v 0.09828751 -0.01741233 -0.08225290
+v 0.12261953 -0.01066906 -0.06962437
+v 0.09977077 -0.01741231 -0.08764245
+v 0.09926524 -0.01355947 -0.08784489
+v 0.09828751 -0.01741232 -0.08520758
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 19
+f 1 19 30
+f 1 30 43
+f 1 43 55
+f 1 55 44
+f 1 44 31
+f 1 31 20
+f 1 20 8
+f 1 8 2
+f 2 8 9
+f 2 9 3
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 6 5
+f 4 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 8 20 21
+f 8 21 22
+f 8 22 9
+f 9 22 10
+f 10 22 23
+f 10 23 11
+f 11 23 24
+f 11 24 25
+f 11 25 12
+f 12 25 13
+f 13 26 39
+f 13 39 51
+f 13 51 52
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+f 13 40 28
+f 13 28 18
+f 13 18 17
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+f 13 25 27
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+f 18 28 29
+f 18 29 19
+f 19 29 30
+f 20 31 32
+f 20 32 21
+f 21 32 45
+f 21 45 54
+f 21 54 58
+f 21 58 56
+f 21 56 46
+f 21 46 33
+f 21 33 23
+f 21 23 22
+f 23 33 34
+f 23 34 24
+f 24 34 27
+f 24 27 25
+f 26 27 35
+f 26 35 36
+f 26 36 37
+f 26 37 38
+f 26 38 39
+f 27 34 36
+f 27 36 35
+f 28 40 41
+f 28 41 29
+f 29 41 50
+f 29 50 53
+f 29 53 42
+f 29 42 55
+f 29 55 43
+f 29 43 30
+f 31 44 42
+f 31 42 45
+f 31 45 32
+f 33 46 47
+f 33 47 48
+f 33 48 34
+f 34 48 36
+f 36 48 49
+f 36 49 37
+f 37 49 50
+f 37 50 41
+f 37 41 38
+f 38 41 51
+f 38 51 39
+f 40 52 41
+f 41 52 51
+f 42 53 54
+f 42 54 45
+f 42 44 55
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+f 46 49 47
+f 47 49 48
+f 49 57 50
+f 50 57 56
+f 50 56 58
+f 50 58 54
+f 50 54 53
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_66.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7371b9b58bdb5f54488a27bfeb069bd7ed40e240
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_66.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.10890022 -0.09181833 -0.08082544
+v -0.10890022 -0.09181833 -0.08104623
+v -0.09621583 -0.08766075 -0.08060696
+v -0.10890022 -0.09111042 -0.07657693
+v -0.10890022 -0.09117600 -0.08164352
+v -0.09621583 -0.08551864 -0.08468114
+v -0.09621583 -0.08760736 -0.08077429
+v -0.09621583 -0.08652869 -0.07673496
+v -0.09621583 -0.08647377 -0.07658157
+v -0.10890022 -0.08474670 -0.06224170
+v -0.10890022 -0.08917578 -0.08313561
+v -0.10608989 -0.08590617 -0.08464629
+v -0.10608989 -0.08157617 -0.08598264
+v -0.09621583 -0.08157466 -0.08536442
+v -0.09621583 -0.08157621 -0.07604467
+v -0.10890022 -0.08463228 -0.06224170
+v -0.10890022 -0.08658206 -0.08433485
+v -0.10890022 -0.08155940 -0.08518314
+v -0.10890022 -0.07623160 -0.08490190
+v -0.10643513 -0.07623160 -0.08554336
+v -0.10632211 -0.07623160 -0.08557125
+v -0.10608989 -0.07623160 -0.08562702
+v -0.10201285 -0.07623160 -0.08441383
+v -0.09621583 -0.07861019 -0.08382584
+v -0.09621583 -0.07859038 -0.07783889
+v -0.10890022 -0.08378398 -0.06242995
+v -0.10853387 -0.08400215 -0.06271349
+v -0.10890022 -0.07623163 -0.07733222
+v -0.10149871 -0.07623160 -0.08421629
+v -0.09621583 -0.07809299 -0.08070454
+v -0.10574092 -0.07623163 -0.07756231
+v -0.10051516 -0.07623161 -0.08034661
+v -0.10133727 -0.07623162 -0.07980276
+v -0.10577196 -0.07623163 -0.07755998
+v -0.10133603 -0.07623160 -0.08370497
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 16
+f 1 16 26
+f 1 26 28
+f 1 28 19
+f 1 19 18
+f 1 18 17
+f 1 17 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 6
+f 3 6 14
+f 3 14 24
+f 3 24 30
+f 3 30 25
+f 3 25 15
+f 3 15 9
+f 3 9 8
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 5 11 6
+f 6 12 13
+f 6 13 14
+f 6 11 12
+f 9 15 10
+f 10 15 16
+f 11 17 12
+f 12 17 13
+f 13 18 19
+f 13 19 20
+f 13 20 21
+f 13 21 22
+f 13 22 14
+f 13 17 18
+f 14 22 23
+f 14 23 24
+f 15 25 26
+f 15 26 27
+f 15 27 16
+f 16 27 26
+f 19 28 34
+f 19 34 31
+f 19 31 33
+f 19 33 32
+f 19 32 35
+f 19 35 29
+f 19 29 23
+f 19 23 22
+f 19 22 21
+f 19 21 20
+f 23 29 24
+f 24 29 30
+f 25 31 26
+f 25 30 32
+f 25 32 33
+f 25 33 31
+f 26 31 34
+f 26 34 28
+f 29 35 30
+f 30 35 32
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_67.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68fce6f4ae292719c9b2290a2e4c03e1638fb4ec
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_67.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.10890222 0.08085082 -0.08557179
+v -0.11052326 0.08085082 -0.08535510
+v -0.10890222 0.08085079 -0.07552489
+v -0.10890222 0.00199704 -0.08476531
+v -0.11103884 0.08085082 -0.08520396
+v -0.10977633 0.00199704 -0.08454861
+v -0.11132152 0.08085078 -0.07422139
+v -0.10890222 0.05172829 -0.07468823
+v -0.10890222 0.00199702 -0.07876229
+v -0.11482559 0.08085082 -0.08393046
+v -0.10982766 0.00199704 -0.08426524
+v -0.11672778 0.00885890 -0.07962127
+v -0.11672778 0.01223968 -0.08092810
+v -0.11414837 0.08085079 -0.07574715
+v -0.11672778 0.07148035 -0.07545270
+v -0.11672778 0.05166656 -0.07499382
+v -0.11672778 0.01220878 -0.07465726
+v -0.10890222 0.01223965 -0.07456836
+v -0.10890222 0.00318569 -0.07803996
+v -0.11672778 0.00888205 -0.07646307
+v -0.10976100 0.00199703 -0.08049807
+v -0.11672778 0.08085081 -0.08220245
+v -0.10985141 0.00199703 -0.08070588
+v -0.11672778 0.00885889 -0.07708315
+v -0.11672778 0.08085080 -0.07782409
+v -0.11672778 0.01176111 -0.07487396
+f 1 2 5
+f 1 5 10
+f 1 10 22
+f 1 22 25
+f 1 25 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 18
+f 1 18 19
+f 1 19 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 4 9 21
+f 4 21 23
+f 4 23 11
+f 4 11 6
+f 5 6 10
+f 6 11 12
+f 6 12 13
+f 6 13 10
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 9 19 20
+f 9 20 21
+f 10 13 22
+f 11 23 12
+f 12 23 24
+f 12 24 20
+f 12 20 26
+f 12 26 17
+f 12 17 16
+f 12 16 15
+f 12 15 25
+f 12 25 22
+f 12 22 13
+f 14 25 15
+f 17 26 19
+f 17 19 18
+f 19 26 20
+f 20 24 23
+f 20 23 21
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_68.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aae841a694dd5def3ea724d3e65a1c0605a09e36
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_68.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.11678086 0.08585657 -0.08395076
+v -0.12427542 0.08355694 -0.08328245
+v -0.12427542 0.08413514 -0.08328245
+v -0.11678086 0.08837082 -0.08231326
+v -0.11672961 0.08084556 -0.08220074
+v -0.11672961 0.05174322 -0.08091014
+v -0.11678086 0.08194501 -0.08376705
+v -0.12272710 0.06897511 -0.08315849
+v -0.12405764 0.06897511 -0.08315849
+v -0.13382529 0.08303567 -0.07888668
+v -0.13382529 0.08476149 -0.07888668
+v -0.13078354 0.08573390 -0.07985586
+v -0.11678086 0.09107342 -0.08046905
+v -0.11678086 0.09112597 -0.07608246
+v -0.11672961 0.08084555 -0.07782105
+v -0.11672961 0.04803314 -0.07998460
+v -0.12090973 0.04787984 -0.08004202
+v -0.12584938 0.04771339 -0.08009255
+v -0.12090973 0.05174322 -0.08083205
+v -0.12443648 0.05174322 -0.08074708
+v -0.12584938 0.05174322 -0.08071263
+v -0.13078536 0.04828282 -0.07936221
+v -0.13340434 0.04904060 -0.07850097
+v -0.13453722 0.08226036 -0.07583446
+v -0.13538094 0.08629454 -0.07096786
+v -0.13433041 0.08636026 -0.07544860
+v -0.13333663 0.08880443 -0.07356764
+v -0.13352148 0.08888326 -0.07096785
+v -0.13352880 0.08888326 -0.07071981
+v -0.13291203 0.08888326 -0.07071981
+v -0.11678086 0.09087191 -0.07574256
+v -0.11678086 0.08629455 -0.07263062
+v -0.11672961 0.07148058 -0.07545096
+v -0.11672961 0.04803313 -0.07686347
+v -0.12584938 0.04692494 -0.07583229
+v -0.13078536 0.04687675 -0.07583229
+v -0.13387104 0.04847554 -0.07583228
+v -0.13542487 0.08627264 -0.07071982
+v -0.13365142 0.08874310 -0.07071981
+v -0.13433041 0.07253616 -0.06048834
+v -0.13184321 0.07296542 -0.06048834
+v -0.13177549 0.07296542 -0.06048834
+v -0.13139115 0.07270261 -0.06048834
+v -0.12822861 0.07009636 -0.06048835
+v -0.12787722 0.06972404 -0.06048835
+v -0.12779120 0.05045097 -0.06048842
+v -0.12779120 0.04847548 -0.06048843
+v -0.11672961 0.05167312 -0.07499400
+v -0.11672961 0.04807256 -0.07617448
+v -0.13078536 0.04662702 -0.06122336
+v -0.13078536 0.04637736 -0.06609453
+v -0.13078536 0.04639929 -0.07096801
+v -0.13442192 0.04787981 -0.07096800
+v -0.13525466 0.05174314 -0.06048842
+v -0.13508262 0.06662283 -0.06048837
+v -0.13484287 0.07180466 -0.06048835
+v -0.11672961 0.05123510 -0.07511572
+v -0.13078536 0.04668835 -0.06048844
+v -0.13497830 0.04748993 -0.06048844
+v -0.13493803 0.04749431 -0.06122336
+v -0.13469096 0.04764325 -0.06609452
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 10 11
+f 2 11 3
+f 2 9 10
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 4 13 5
+f 5 13 14
+f 5 14 15
+f 5 15 33
+f 5 33 48
+f 5 48 57
+f 5 57 49
+f 5 49 34
+f 5 34 16
+f 5 16 6
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 9
+f 6 9 8
+f 6 8 7
+f 9 19 20
+f 9 20 21
+f 9 21 22
+f 9 22 23
+f 9 23 10
+f 10 24 11
+f 10 23 24
+f 11 24 25
+f 11 25 26
+f 11 26 27
+f 11 27 12
+f 12 27 13
+f 13 28 14
+f 13 27 28
+f 14 28 29
+f 14 29 30
+f 14 30 31
+f 14 31 15
+f 15 31 32
+f 15 32 33
+f 16 34 35
+f 16 35 17
+f 17 35 18
+f 18 35 36
+f 18 36 22
+f 18 22 21
+f 18 21 20
+f 18 20 19
+f 22 36 23
+f 23 36 37
+f 23 37 24
+f 24 38 25
+f 24 37 38
+f 25 38 27
+f 25 27 26
+f 27 39 28
+f 27 38 39
+f 28 39 29
+f 29 39 40
+f 29 40 41
+f 29 41 42
+f 29 42 30
+f 30 32 31
+f 30 42 32
+f 32 42 43
+f 32 43 44
+f 32 44 45
+f 32 45 46
+f 32 46 47
+f 32 47 48
+f 32 48 33
+f 34 49 50
+f 34 50 51
+f 34 51 35
+f 35 51 52
+f 35 52 36
+f 36 52 53
+f 36 53 37
+f 37 53 38
+f 38 53 54
+f 38 54 55
+f 38 55 56
+f 38 56 40
+f 38 40 39
+f 40 56 55
+f 40 55 54
+f 40 54 59
+f 40 59 58
+f 40 58 47
+f 40 47 46
+f 40 46 45
+f 40 45 44
+f 40 44 43
+f 40 43 42
+f 40 42 41
+f 47 49 57
+f 47 57 48
+f 47 58 49
+f 49 58 50
+f 50 58 59
+f 50 59 51
+f 51 59 52
+f 52 59 60
+f 52 60 61
+f 52 61 53
+f 53 61 54
+f 54 61 59
+f 59 61 60
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_69.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00a6cf91553c69c1fedf578dcec342429ea2759f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_69.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.06212473 -0.05896751 -0.08367113
+v 0.05198068 -0.06362848 -0.07974208
+v 0.05198068 -0.06361990 -0.07702860
+v 0.06233167 -0.05896752 -0.08137312
+v 0.06239501 -0.05896751 -0.08557710
+v 0.05198068 -0.06676382 -0.08089110
+v 0.06319319 -0.05896750 -0.08710953
+v 0.06396181 -0.05896750 -0.08822401
+v 0.05198068 -0.06675526 -0.07599920
+v 0.06184178 -0.06676384 -0.07574400
+v 0.06184178 -0.06329176 -0.07689792
+v 0.06678288 -0.05896753 -0.08028575
+v 0.06220497 -0.07651692 -0.08621947
+v 0.05198068 -0.06978581 -0.07942527
+v 0.06394914 -0.06676380 -0.08823514
+v 0.06399137 -0.07169963 -0.08820679
+v 0.06412651 -0.07551017 -0.08812174
+v 0.06263996 -0.07651692 -0.08663617
+v 0.06563418 -0.05896750 -0.08822401
+v 0.05198068 -0.06977723 -0.07724561
+v 0.06678288 -0.07651695 -0.07940680
+v 0.06678288 -0.06676384 -0.07564044
+v 0.06678288 -0.06313714 -0.07687203
+v 0.09511613 -0.06351338 -0.07731216
+v 0.09511613 -0.06251693 -0.07980865
+v 0.07047816 -0.05896752 -0.08185270
+v 0.06207827 -0.07651692 -0.08602222
+v 0.06143635 -0.07651694 -0.08057060
+v 0.06571443 -0.06676380 -0.08823514
+v 0.06555817 -0.07169963 -0.08820679
+v 0.06502183 -0.07551017 -0.08812174
+v 0.06593403 -0.07651692 -0.08763600
+v 0.06810474 -0.05896750 -0.08730308
+v 0.09511613 -0.06251692 -0.08038439
+v 0.09511613 -0.06613847 -0.08234091
+v 0.09511613 -0.06676382 -0.08242107
+v 0.06152926 -0.07651694 -0.08047074
+v 0.06617475 -0.07651695 -0.07943269
+v 0.07152128 -0.07651694 -0.08071361
+v 0.09511613 -0.07096780 -0.07735163
+v 0.09511613 -0.06676384 -0.07624700
+v 0.09511613 -0.06431225 -0.07704587
+v 0.06997982 -0.05896751 -0.08486699
+v 0.06620431 -0.07651692 -0.08763600
+v 0.06903383 -0.05896750 -0.08627859
+v 0.09511613 -0.07121689 -0.08053606
+v 0.07140726 -0.07651693 -0.08455390
+v 0.06682090 -0.07651692 -0.08742519
+v 0.07130168 -0.07651693 -0.08486581
+v 0.07111586 -0.07651693 -0.08506430
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 26
+f 1 26 43
+f 1 43 45
+f 1 45 33
+f 1 33 19
+f 1 19 8
+f 1 8 7
+f 1 7 5
+f 1 5 2
+f 2 6 14
+f 2 14 20
+f 2 20 9
+f 2 9 3
+f 2 5 7
+f 2 7 8
+f 2 8 6
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 6 13 14
+f 6 8 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 13
+f 8 19 29
+f 8 29 15
+f 9 20 21
+f 9 21 10
+f 10 21 22
+f 10 22 11
+f 11 22 23
+f 11 23 12
+f 12 23 24
+f 12 24 25
+f 12 25 26
+f 13 27 14
+f 13 18 32
+f 13 32 44
+f 13 44 48
+f 13 48 50
+f 13 50 49
+f 13 49 47
+f 13 47 39
+f 13 39 21
+f 13 21 38
+f 13 38 37
+f 13 37 28
+f 13 28 27
+f 14 27 28
+f 14 28 20
+f 15 29 30
+f 15 30 16
+f 16 30 31
+f 16 31 17
+f 17 31 44
+f 17 44 32
+f 17 32 18
+f 19 33 34
+f 19 34 35
+f 19 35 36
+f 19 36 29
+f 20 28 37
+f 20 37 38
+f 20 38 21
+f 21 39 40
+f 21 40 22
+f 22 40 41
+f 22 41 42
+f 22 42 24
+f 22 24 23
+f 24 42 41
+f 24 41 40
+f 24 40 46
+f 24 46 36
+f 24 36 35
+f 24 35 34
+f 24 34 25
+f 25 34 26
+f 26 34 43
+f 29 36 30
+f 30 36 31
+f 31 36 44
+f 33 45 34
+f 34 45 43
+f 36 46 44
+f 39 47 46
+f 39 46 40
+f 44 46 48
+f 46 47 49
+f 46 49 50
+f 46 50 48
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_7.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ad48bb4b49f9dd5766a368c2de075984943cefd
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_7.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.01138104 -0.04713238 -0.08028600
+v -0.01138104 -0.04713239 -0.07625402
+v -0.01138104 -0.05108884 -0.08028602
+v -0.09781271 -0.05170837 -0.08065980
+v -0.09781271 -0.04723137 -0.08065274
+v -0.01138104 -0.05108885 -0.07625404
+v -0.09781271 -0.04729500 -0.07629228
+v -0.04683021 -0.04728381 -0.07621445
+v -0.05175417 -0.04733397 -0.07619685
+v -0.05668660 -0.04741282 -0.07618103
+v -0.06162748 -0.04748270 -0.07616783
+v -0.09781271 -0.05170838 -0.07810271
+v -0.06162748 -0.05136839 -0.07616785
+v -0.05668660 -0.05135495 -0.07618105
+v -0.05175417 -0.05133658 -0.07619687
+v -0.04683021 -0.05130970 -0.07621447
+v -0.09781271 -0.05164075 -0.07627339
+v -0.09781271 -0.04900042 -0.07627338
+v -0.09620523 -0.04754318 -0.07618938
+v -0.06656837 -0.04755572 -0.07616871
+v -0.06656837 -0.05137555 -0.07616873
+v -0.09620523 -0.05137824 -0.07618940
+f 1 2 6
+f 1 6 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 13
+f 2 13 6
+f 3 6 12
+f 3 12 4
+f 4 12 17
+f 4 17 18
+f 4 18 7
+f 4 7 5
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 12
+f 7 18 19
+f 7 19 9
+f 7 9 8
+f 9 19 10
+f 10 19 11
+f 11 19 20
+f 11 20 21
+f 11 21 13
+f 13 21 17
+f 13 17 14
+f 14 17 15
+f 15 17 16
+f 17 22 19
+f 17 19 18
+f 17 21 22
+f 19 22 21
+f 19 21 20
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_70.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8eb91a1e46545d6ddd4f83ef6818381013cef645
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_70.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.11152634 -0.11149375 0.02064332
+v -0.11116730 -0.11099333 0.01670329
+v -0.11119830 -0.10773777 0.02064333
+v -0.11527689 -0.11149375 0.02064332
+v -0.11331444 -0.10881138 -0.02564702
+v -0.11133133 -0.10999395 -0.00277685
+v -0.11121896 -0.11025311 0.00209319
+v -0.11077468 -0.10626178 -0.00764687
+v -0.11117828 -0.11073864 0.01183325
+v -0.10985254 -0.10132606 -0.07095732
+v -0.11119830 -0.10691420 0.02064334
+v -0.11556942 -0.10691420 0.02064334
+v -0.11561785 -0.11099333 0.01670329
+v -0.11561140 -0.11073864 0.01183325
+v -0.11550290 -0.11025311 0.00209319
+v -0.11537376 -0.10999395 -0.00277685
+v -0.11368123 -0.10881138 -0.02564702
+v -0.11145724 -0.10515799 -0.07095734
+v -0.11120798 -0.10553927 -0.06608731
+v -0.11092256 -0.10173410 -0.07619736
+v -0.11085347 -0.09628031 -0.08105738
+v -0.11068622 -0.09628033 -0.07555734
+v -0.11193123 -0.10299427 -0.01251690
+v -0.11314525 -0.10367193 -0.00373683
+v -0.11083797 -0.09628033 -0.07493734
+v -0.11561785 -0.10673099 0.01670331
+v -0.11608086 -0.10626176 -0.01251691
+v -0.11381942 -0.10367193 -0.00373683
+v -0.11499857 -0.10299427 -0.01251690
+v -0.11532984 -0.10258321 -0.01738694
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+v -0.11644893 -0.10132606 -0.07095732
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+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_71.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a37bbe0df711501461039c5e2319933a947b1cd
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_71.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_72.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7094a389194e0f8c2fb5e519b573d3521720da60
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_72.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_73.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6577d2b767be40980c75d8115e39e302def8d11e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_73.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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+v -0.13322188 0.03446675 -0.03377453
+v -0.12443660 0.03579899 -0.08002394
+f 1 2 3
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+f 1 5 6
+f 1 6 7
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+f 2 8 3
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+f 3 10 11
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+f 44 66 45
+f 45 47 46
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+f 52 72 54
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+f 74 77 75
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_74.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d98402a8d031ab3b92d5d77331eb9628ca41bb4
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_74.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.11951788 0.04815275 -0.08070753
+v 0.11934887 0.04837048 -0.08401719
+v 0.11951788 0.05090094 -0.08070752
+v 0.11909702 0.04868012 -0.07791332
+v 0.10533789 0.04187255 -0.08173848
+v 0.10561625 0.04187256 -0.08557637
+v 0.11934887 0.05056710 -0.08401718
+v 0.10410181 0.04187257 -0.08816388
+v 0.11909702 0.05014130 -0.07791332
+v 0.11114708 0.08653064 -0.08070739
+v 0.11114708 0.08569842 -0.07580159
+v 0.11114708 0.08135841 -0.07590368
+v 0.10135794 0.05173312 -0.07626741
+v 0.11616757 0.04845272 -0.07768877
+v 0.10135794 0.04187255 -0.08080326
+v 0.10413164 0.04679803 -0.08813834
+v 0.10405874 0.05173316 -0.08809111
+v 0.10392618 0.05463617 -0.08805155
+v 0.10389305 0.05527968 -0.08804262
+v 0.11114708 0.08441629 -0.08340208
+v 0.10195444 0.04187257 -0.08816388
+v 0.10484412 0.09129159 -0.08090131
+v 0.10487063 0.09129159 -0.08059892
+v 0.10504626 0.09129157 -0.07689756
+v 0.10135132 0.09129157 -0.07513044
+v 0.09619164 0.05173312 -0.07613982
+v 0.09619164 0.05157345 -0.07616534
+v 0.09619164 0.04811402 -0.07675481
+v 0.10135794 0.04800274 -0.07697682
+v 0.09816671 0.04187255 -0.08221056
+v 0.10218310 0.04679803 -0.08813834
+v 0.10267023 0.05173316 -0.08809111
+v 0.10391956 0.05463617 -0.08805283
+v 0.10329987 0.05527968 -0.08804262
+v 0.10135132 0.06654822 -0.08736763
+v 0.10135132 0.07148335 -0.08704354
+v 0.10135132 0.07641364 -0.08648722
+v 0.10135132 0.07801998 -0.08630221
+v 0.10135132 0.08135361 -0.08591688
+v 0.10135132 0.08629357 -0.08463076
+v 0.10135132 0.09129160 -0.08304863
+v 0.10222286 0.09129159 -0.08287383
+v 0.09948562 0.04187257 -0.08785001
+v 0.09971427 0.04679803 -0.08786020
+v 0.09681134 0.09129157 -0.07628513
+v 0.08566353 0.09010133 -0.07713743
+v 0.08566353 0.08629354 -0.07574289
+v 0.08566353 0.06738038 -0.07636304
+v 0.09206590 0.05463614 -0.07807406
+v 0.09816671 0.04187256 -0.08541305
+v 0.10020472 0.05173316 -0.08784997
+v 0.08566353 0.08135360 -0.08562088
+v 0.10318719 0.05463617 -0.08805283
+v 0.09642030 0.08135361 -0.08607892
+v 0.09974742 0.07801998 -0.08635580
+v 0.09616182 0.08669516 -0.08463842
+v 0.09764312 0.08999008 -0.08351307
+v 0.08566353 0.08623067 -0.08472008
+v 0.08566353 0.08697094 -0.08417144
+v 0.08566353 0.08925464 -0.08234053
+v 0.08566353 0.09019328 -0.08050579
+v 0.09626124 0.09129159 -0.08127387
+v 0.08566353 0.06738040 -0.08035531
+v 0.09654292 0.09129157 -0.07643058
+v 0.08566353 0.08238901 -0.08543970
+v 0.09620159 0.09129159 -0.08121135
+v 0.09620159 0.09129159 -0.08123559
+f 1 2 7
+f 1 7 3
+f 1 3 9
+f 1 9 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 7
+f 3 7 10
+f 3 10 11
+f 3 11 9
+f 4 9 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 5 15 30
+f 5 30 50
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+f 5 21 8
+f 5 8 6
+f 7 8 16
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+f 8 21 31
+f 8 31 16
+f 10 20 22
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+f 10 24 11
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+f 20 42 22
+f 21 43 44
+f 21 44 31
+f 22 42 41
+f 22 41 62
+f 22 62 67
+f 22 67 66
+f 22 66 64
+f 22 64 45
+f 22 45 25
+f 22 25 24
+f 22 24 23
+f 25 45 46
+f 25 46 47
+f 25 47 26
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+f 28 48 49
+f 28 49 30
+f 30 49 48
+f 30 48 63
+f 30 63 50
+f 31 44 51
+f 31 51 32
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+f 34 52 35
+f 34 53 52
+f 35 52 36
+f 36 52 54
+f 36 54 55
+f 36 55 37
+f 37 55 38
+f 38 55 39
+f 39 55 54
+f 39 54 40
+f 40 54 56
+f 40 56 41
+f 41 56 57
+f 41 57 58
+f 41 58 59
+f 41 59 60
+f 41 60 61
+f 41 61 62
+f 43 50 63
+f 43 63 52
+f 43 52 44
+f 44 52 51
+f 45 64 46
+f 46 64 61
+f 46 61 60
+f 46 60 59
+f 46 59 58
+f 46 58 65
+f 46 65 52
+f 46 52 63
+f 46 63 48
+f 46 48 47
+f 52 65 54
+f 54 65 58
+f 54 58 56
+f 56 58 57
+f 61 64 66
+f 61 66 67
+f 61 67 62
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_75.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10d706ab50b2e4d85d6f99303d7d89c1e4c4aa57
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_75.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.00205505 0.09481658 -0.07609591
+v -0.00254349 0.09481658 -0.07610701
+v 0.00239992 0.09481658 -0.07721731
+v 0.00037437 0.10342227 0.02072148
+v 0.00022829 0.09856736 -0.03353845
+v -0.00004656 0.09856736 -0.03353845
+v -0.00272722 0.09481660 -0.08107002
+v -0.00023254 0.10342227 0.02072148
+v -0.00059775 0.10323667 0.01670223
+v -0.00095241 0.10302226 0.01183916
+v -0.00217226 0.10639228 0.02988139
+v -0.00287857 0.10604350 0.01183917
+v -0.00483861 0.10357457 -0.05384565
+v 0.00234721 0.09481660 -0.08108111
+v 0.00279976 0.10604355 -0.00278336
+v 0.00285398 0.10604353 0.00209081
+v 0.00283666 0.10604351 0.00696499
+v 0.00273124 0.10604350 0.01183917
+v 0.00254149 0.10604348 0.01670224
+v 0.00207614 0.10639228 0.02988139
+v 0.00097752 0.10302226 0.01183916
+v 0.00067255 0.10323667 0.01670223
+v -0.00228220 0.10146395 -0.07601817
+v -0.00150285 0.10005576 -0.07967103
+v -0.00213461 0.09637203 -0.08105891
+v -0.00073856 0.09481661 -0.08351265
+v -0.00483861 0.10357457 -0.05408992
+v -0.00483861 0.10357618 -0.05408992
+v -0.00217226 0.10769807 0.02988140
+v -0.00204801 0.11116418 0.02988141
+v -0.00302239 0.10604351 0.00696499
+v -0.00483861 0.10357618 -0.05384565
+v 0.00070795 0.09481661 -0.08354596
+v 0.00123655 0.10005576 -0.07967103
+v 0.00172148 0.10146395 -0.07601817
+v 0.00187584 0.10537968 -0.06609215
+v 0.00194060 0.10558130 -0.06268355
+v 0.00196846 0.10566610 -0.06121797
+v 0.00208894 0.11058810 0.02643951
+v 0.00197298 0.11116418 0.02988141
+v -0.00226337 0.10537968 -0.06609215
+v -0.00176489 0.10471401 -0.07095523
+v -0.00086883 0.10402911 -0.07453037
+v -0.00069940 0.09485822 -0.08353486
+v -0.00070919 0.09481661 -0.08354596
+v -0.00235674 0.10566610 -0.06121797
+v -0.00232888 0.10558130 -0.06268355
+v -0.00017005 0.10864238 -0.01612905
+v -0.00051868 0.10882479 -0.01252061
+v 0.00069665 0.09485822 -0.08353486
+v 0.00080508 0.10402911 -0.07453037
+v 0.00147374 0.10471401 -0.07095523
+v 0.00033145 0.10864238 -0.01612905
+v 0.00063716 0.10882479 -0.01252061
+f 1 2 7
+f 1 7 26
+f 1 26 45
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+f 1 14 3
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+f 1 4 5
+f 1 5 6
+f 1 6 2
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+f 30 40 53
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+f 30 32 31
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+f 33 44 50
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+f 38 40 39
+f 40 54 53
+f 41 47 48
+f 42 52 51
+f 42 51 43
+f 46 49 47
+f 47 49 48
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_76.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8f823148b3f242200c06687a72e4b8a32465579
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_76.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.13572658 -0.00366280 0.01188641
+v -0.13999567 -0.00407598 0.01188641
+v -0.14066425 -0.00328020 0.03188063
+v -0.13572658 -0.00367946 0.01671470
+v -0.13275049 -0.00463336 0.01188640
+v -0.14001039 -0.00410925 0.01188640
+v -0.14324042 -0.00492734 0.02270747
+v -0.14375443 -0.00431177 0.03188062
+v -0.13660862 -0.00369893 0.03188063
+v -0.13572658 -0.00371830 0.02158603
+v -0.13284005 -0.00465281 0.02158602
+v -0.13182921 -0.00748957 0.01188639
+v -0.14133282 -0.00751730 0.01188639
+v -0.14413840 -0.00751738 0.03188061
+v -0.14384889 -0.00486914 0.03188062
+v -0.14328212 -0.02886964 0.02286395
+v -0.14435308 -0.02726410 0.03188054
+v -0.13572658 -0.00382647 0.02645346
+v -0.13578179 -0.00396236 0.03188063
+v -0.13294554 -0.00473602 0.02645345
+v -0.13182185 -0.00751730 0.01188639
+v -0.14049863 -0.02726402 0.01188632
+v -0.14328212 -0.02991507 0.02286395
+v -0.14428929 -0.02777434 0.03188054
+v -0.13421523 -0.00744806 0.03188061
+v -0.13310748 -0.00489132 0.02934415
+v -0.13230887 -0.00751734 0.02158601
+v -0.13241928 -0.02726406 0.02158594
+v -0.13217883 -0.02726402 0.01188632
+v -0.14000917 -0.03109634 0.01188631
+v -0.14392495 -0.03061391 0.03188053
+v -0.13421156 -0.00751738 0.03188061
+v -0.13303878 -0.00751737 0.02951246
+v -0.13262046 -0.00751736 0.02645344
+v -0.13267811 -0.02726408 0.02645337
+v -0.13296027 -0.03003710 0.02645336
+v -0.13283636 -0.03013414 0.02158593
+v -0.13276644 -0.03017015 0.01188631
+v -0.13572658 -0.03153448 0.01188630
+v -0.14066425 -0.03160943 0.03188052
+v -0.14324288 -0.03083576 0.03188053
+v -0.13499054 -0.02726410 0.03188054
+v -0.13308785 -0.02726409 0.02916793
+v -0.13315532 -0.02984023 0.02907789
+v -0.13606149 -0.03078862 0.03188053
+v -0.13572658 -0.03112690 0.02645336
+v -0.13572658 -0.03140141 0.02158592
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 21
+f 1 21 29
+f 1 29 38
+f 1 38 39
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+f 1 30 22
+f 1 22 13
+f 1 13 6
+f 1 6 2
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+f 2 7 8
+f 2 8 3
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+f 3 8 15
+f 3 15 14
+f 3 14 17
+f 3 17 24
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+f 3 31 41
+f 3 41 40
+f 3 40 45
+f 3 45 42
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+f 3 32 25
+f 3 25 19
+f 3 19 9
+f 4 9 10
+f 4 10 11
+f 4 11 5
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+f 6 13 7
+f 7 14 15
+f 7 15 8
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+f 7 17 14
+f 9 18 10
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+f 10 18 11
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+f 19 26 20
+f 20 26 27
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+f 21 28 29
+f 22 30 23
+f 23 30 31
+f 23 31 24
+f 25 32 33
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+f 28 37 29
+f 29 37 38
+f 30 39 40
+f 30 40 41
+f 30 41 31
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+f 32 43 33
+f 33 43 35
+f 33 35 34
+f 35 43 44
+f 35 44 36
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+f 37 47 39
+f 37 39 38
+f 39 47 40
+f 40 47 46
+f 40 46 45
+f 42 45 44
+f 42 44 43
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_77.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98f1a218def7e0f894696147aa49975c7d306fab
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_77.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.10974303 0.01223425 -0.08638137
+v 0.10974303 0.00808035 -0.08517316
+v 0.10974303 0.01389967 -0.08583638
+v 0.11897870 0.01486310 -0.08336661
+v 0.11617265 0.01223424 -0.08486240
+v 0.11970583 0.00921362 -0.08375391
+v 0.11617265 0.00886725 -0.08434294
+v 0.12125448 0.00860494 -0.08088989
+v 0.11617265 0.00803747 -0.08070669
+v 0.10974303 0.00770371 -0.08244365
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+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_78.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e947ec1f4b23a3aee1c6894e128df9485b3f2fff
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_78.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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+v -0.08956829 -0.10498782 -0.06122338
+v -0.08964737 -0.10492502 -0.06609508
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+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_79.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f99fd6c471a7e729b5968840b38f593928b0424b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_79.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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+v -0.13707272 -0.04434854 0.01188959
+v -0.13867696 -0.04437577 0.01188959
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+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_8.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4574d5539276ac2ff77c6b0919f1a3f1e36dfb25
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_8.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.12319385 0.01191097 -0.06269006
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+v 0.12319385 0.01044410 -0.06269006
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+f 28 39 50
+f 28 50 56
+f 28 56 54
+f 28 54 53
+f 28 53 51
+f 28 51 44
+f 28 44 29
+f 29 43 42
+f 30 41 31
+f 31 40 46
+f 31 46 32
+f 31 41 40
+f 32 46 33
+f 33 46 34
+f 36 47 48
+f 36 48 49
+f 36 49 37
+f 38 49 50
+f 44 51 45
+f 45 51 53
+f 45 53 54
+f 45 54 52
+f 47 55 48
+f 48 55 50
+f 48 50 49
+f 50 55 56
+f 52 54 55
+f 54 56 55
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_80.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55e035abc27cc0e0e9d8b5c2babda8a2e8fd9317
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_80.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v 0.09511817 -0.02717190 -0.08076786
+v 0.09511817 -0.02717191 -0.07982559
+v 0.09511817 -0.03243538 -0.08074857
+v 0.07280000 -0.03256556 -0.08104431
+v 0.07280000 -0.02732682 -0.08082249
+v 0.09511817 -0.02797126 -0.07651701
+v 0.07280000 -0.02820095 -0.07623446
+v 0.07280000 -0.03266722 -0.08093741
+v 0.07280000 -0.03266077 -0.08101276
+v 0.09511817 -0.03166135 -0.07651703
+v 0.07280000 -0.03243271 -0.07639788
+v 0.09147385 -0.02806109 -0.07636632
+v 0.07665843 -0.03191094 -0.07624626
+v 0.07665843 -0.02820418 -0.07624624
+v 0.09147385 -0.03172159 -0.07636634
+v 0.08159836 -0.03188404 -0.07628063
+v 0.08159836 -0.02817674 -0.07628061
+f 1 2 6
+f 1 6 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 9
+f 3 9 4
+f 3 10 11
+f 3 11 8
+f 4 9 8
+f 4 8 11
+f 4 11 7
+f 4 7 5
+f 6 7 12
+f 6 12 15
+f 6 15 10
+f 7 11 13
+f 7 13 14
+f 7 14 12
+f 10 15 11
+f 11 15 16
+f 11 16 13
+f 12 14 17
+f 12 17 16
+f 12 16 15
+f 13 16 17
+f 13 17 14
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_81.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..481324b55549be072a410b2589a9c1f16b0dd3d1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_81.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.12422586 -0.06552737 -0.06805306
+v 0.12420214 -0.06965563 -0.07222025
+v 0.12466178 -0.06639393 -0.06962529
+v 0.12497315 -0.06700767 -0.07074532
+v 0.12422586 -0.06360508 -0.06805305
+v 0.12286177 -0.06552737 -0.06805306
+v 0.10134772 -0.07664802 -0.07750364
+v 0.10605383 -0.07664801 -0.07775742
+v 0.12428813 -0.06974054 -0.07583790
+v 0.12541499 -0.06676447 -0.07583789
+v 0.10726371 -0.07664800 -0.08039625
+v 0.10734081 -0.07664800 -0.08059849
+v 0.12485156 -0.06300099 -0.07096663
+v 0.12456392 -0.06327891 -0.06962528
+v 0.10527096 -0.05693108 -0.08168029
+v 0.10135662 -0.05693108 -0.08059461
+v 0.12286177 -0.06360508 -0.06805305
+v 0.09512332 -0.06676447 -0.07624812
+v 0.09512332 -0.07096609 -0.07735289
+v 0.09815100 -0.07664801 -0.07803599
+v 0.12389670 -0.06948576 -0.07874004
+v 0.12470329 -0.06322870 -0.07583787
+v 0.12415172 -0.06676446 -0.07903006
+v 0.12402125 -0.06390805 -0.07881251
+v 0.10549929 -0.07664799 -0.08462829
+v 0.10500703 -0.05693106 -0.08604399
+v 0.10527096 -0.05693108 -0.08172417
+v 0.10131807 -0.05693108 -0.08060606
+v 0.09512332 -0.06351435 -0.07731279
+v 0.09512332 -0.06431336 -0.07704758
+v 0.09512332 -0.07121697 -0.08053360
+v 0.09598032 -0.07664800 -0.08060040
+v 0.10545184 -0.07664799 -0.08473133
+v 0.11921728 -0.06960347 -0.08353114
+v 0.12178236 -0.06676445 -0.08146472
+v 0.11895632 -0.06412999 -0.08336130
+v 0.10497442 -0.05693106 -0.08608406
+v 0.09812728 -0.05693108 -0.08204473
+v 0.09512332 -0.06251845 -0.07980470
+v 0.09512332 -0.06676445 -0.08242065
+v 0.09662678 -0.07664799 -0.08470271
+v 0.10135662 -0.07664798 -0.08628257
+v 0.11122847 -0.06676443 -0.08593527
+v 0.11616884 -0.06676444 -0.08476182
+v 0.11931218 -0.06676444 -0.08359982
+v 0.10175991 -0.05693106 -0.08754371
+v 0.09812728 -0.05693107 -0.08496785
+v 0.09512332 -0.06251844 -0.08038284
+v 0.09512332 -0.06613913 -0.08234051
+v 0.09721986 -0.06676444 -0.08509764
+v 0.10135662 -0.06182748 -0.08744070
+v 0.10135662 -0.06676443 -0.08736439
+v 0.10118462 -0.07664798 -0.08622533
+v 0.10629699 -0.06676443 -0.08703622
+v 0.10173619 -0.05693106 -0.08753799
+v 0.09813618 -0.05693107 -0.08500028
+v 0.09769730 -0.06182749 -0.08506709
+v 0.10170060 -0.05693106 -0.08752082
+f 1 2 3
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+f 1 5 17
+f 1 17 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 10
+f 2 10 4
+f 2 4 3
+f 2 8 11
+f 2 11 12
+f 2 12 9
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+f 4 13 14
+f 4 14 5
+f 5 14 15
+f 5 15 16
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+f 6 19 20
+f 6 20 7
+f 7 20 32
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+f 7 41 53
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+f 7 25 12
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+f 9 12 21
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+f 19 32 20
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+f 21 34 23
+f 22 24 26
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+f 24 36 37
+f 24 37 26
+f 28 38 29
+f 29 38 39
+f 31 40 41
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+f 33 42 34
+f 34 43 44
+f 34 44 45
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+f 35 45 36
+f 36 45 44
+f 36 44 46
+f 36 46 37
+f 38 47 48
+f 38 48 39
+f 40 49 50
+f 40 50 41
+f 41 50 51
+f 41 51 52
+f 41 52 53
+f 42 53 52
+f 42 52 54
+f 42 54 43
+f 43 54 46
+f 43 46 44
+f 46 54 52
+f 46 52 51
+f 46 51 55
+f 47 56 48
+f 48 56 49
+f 49 56 50
+f 50 56 57
+f 50 57 58
+f 50 58 51
+f 51 58 55
+f 56 58 57
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_82.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a0f540c8d504b316fbfd55466f7300139667211
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_82.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.12931073 -0.08157680 -0.06995494
+v -0.12091583 -0.08420405 -0.07318031
+v -0.12091583 -0.08378839 -0.07318031
+v -0.13128953 -0.07857955 -0.06995493
+v -0.13062944 -0.08548999 -0.06995495
+v -0.12091583 -0.08560905 -0.07584480
+v -0.12091583 -0.08132214 -0.07500414
+v -0.13404577 -0.07855409 -0.06995493
+v -0.12091583 -0.07850839 -0.07743635
+v -0.13511071 -0.08545704 -0.06995495
+v -0.13078639 -0.08612282 -0.07583690
+v -0.12091583 -0.08586216 -0.08071190
+v -0.13400177 -0.07855858 -0.07096582
+v -0.13449464 -0.07918544 -0.06995493
+v -0.12584892 -0.07847168 -0.07917045
+v -0.12091583 -0.07850838 -0.07919024
+v -0.13589989 -0.08157604 -0.06995494
+v -0.13503151 -0.08544055 -0.07096584
+v -0.13431421 -0.08502787 -0.07583689
+v -0.13359251 -0.08442122 -0.07863599
+v -0.13078639 -0.08501812 -0.07948983
+v -0.12570369 -0.08526002 -0.08097451
+v -0.12091583 -0.08445865 -0.08343576
+v -0.13123085 -0.07858028 -0.07627633
+v -0.13368199 -0.07875928 -0.07494474
+v -0.12091583 -0.08080685 -0.08162247
+v -0.12988134 -0.07869785 -0.07882864
+v -0.13577668 -0.08157604 -0.07096583
+v -0.12396253 -0.08423547 -0.08329060
+v -0.13435822 -0.08113341 -0.07627634
+v -0.13359251 -0.08248373 -0.07863598
+v -0.12091583 -0.08327907 -0.08343576
+v -0.13317445 -0.07919290 -0.07819122
+v -0.12396253 -0.08364681 -0.08329060
+v -0.13123085 -0.08113340 -0.07958089
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 14
+f 1 14 17
+f 1 17 10
+f 1 10 5
+f 1 5 2
+f 2 6 12
+f 2 12 23
+f 2 23 32
+f 2 32 26
+f 2 26 16
+f 2 16 9
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+f 18 28 19
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+f 20 29 21
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+f 21 29 22
+f 22 29 23
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+f 23 34 32
+f 24 27 25
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+f 25 33 28
+f 26 32 34
+f 26 34 27
+f 27 34 33
+f 28 33 30
+f 30 33 31
+f 31 33 35
+f 31 35 34
+f 33 34 35
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_83.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a21ffe3c69edb24c7a8104dd96539fed8584e94
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_83.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.02194279 0.09481921 -0.07598223
+v 0.01712114 0.09481921 -0.07599335
+v 0.02232785 0.09481921 -0.07718270
+v 0.01998817 0.10350241 0.01982189
+v 0.01968379 0.10350241 0.01982189
+v 0.01681310 0.09481923 -0.08106200
+v 0.01709181 0.10687478 0.02987027
+v 0.01486654 0.10348178 -0.01837081
+v 0.02231612 0.09481923 -0.08092861
+v 0.02227138 0.10110689 -0.07095803
+v 0.02223104 0.10604536 0.00209275
+v 0.02192886 0.10604531 0.01669846
+v 0.02160028 0.10644804 0.02644671
+v 0.02148293 0.10664942 0.02987027
+v 0.02025074 0.10664942 0.02987027
+v 0.01491421 0.10356334 -0.03454379
+v 0.01491421 0.10358732 -0.03454379
+v 0.01692605 0.10110689 -0.07095803
+v 0.01767856 0.10135465 -0.07581548
+v 0.01831079 0.09987304 -0.07968366
+v 0.01745706 0.09642392 -0.08106200
+v 0.01877066 0.09481924 -0.08356297
+v 0.01483500 0.10341306 -0.02225010
+v 0.01485114 0.10342586 -0.02711867
+v 0.01489148 0.10350740 -0.03198724
+v 0.01709181 0.10817260 0.02987028
+v 0.01486654 0.10371833 -0.01837081
+v 0.02105019 0.09987304 -0.07968366
+v 0.02155040 0.10135465 -0.07581548
+v 0.02180197 0.09481923 -0.08188454
+v 0.02176384 0.10512499 -0.06608944
+v 0.02204108 0.10559008 -0.06122087
+v 0.02207408 0.10573391 -0.05634118
+v 0.02170369 0.11034951 0.02157816
+v 0.02160028 0.11055727 0.02644673
+v 0.02142499 0.11114383 0.02987029
+v 0.01489148 0.10363366 -0.03198724
+v 0.01724143 0.11080819 0.02987029
+v 0.01747466 0.11004268 0.01182990
+v 0.01792206 0.10559008 -0.06122087
+v 0.01799541 0.10512499 -0.06608944
+v 0.01845381 0.10446972 -0.07095802
+v 0.01920192 0.10392950 -0.07417039
+v 0.01890121 0.09494711 -0.08366301
+v 0.01887040 0.09481924 -0.08366301
+v 0.01483500 0.10378386 -0.02225010
+v 0.01485114 0.10372635 -0.02711867
+v 0.02040550 0.10392950 -0.07417039
+v 0.02062407 0.09494711 -0.08366301
+v 0.02110227 0.10446972 -0.07095802
+v 0.02067687 0.09481924 -0.08366301
+v 0.02003218 0.10862189 -0.01604766
+v 0.02063360 0.10905181 -0.00764437
+v 0.02093358 0.10930591 -0.00278692
+v 0.02118001 0.10955842 0.00209276
+v 0.02137511 0.10981733 0.00696133
+v 0.02161861 0.11020888 0.01669847
+v 0.01758541 0.10981733 0.00696133
+v 0.01953124 0.10862189 -0.01604766
+v 0.01809589 0.10930591 -0.00278692
+v 0.01779738 0.10955842 0.00209276
+v 0.01850442 0.10905181 -0.00764437
+v 0.01905523 0.10879929 -0.01252406
+f 1 2 6
+f 1 6 22
+f 1 22 45
+f 1 45 51
+f 1 51 30
+f 1 30 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 8
+f 2 8 6
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
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+f 4 15 5
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+f 6 8 23
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+f 7 15 14
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+f 31 40 32
+f 31 50 42
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+f 34 36 35
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+f 36 39 38
+f 36 56 54
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+f 36 60 58
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+f 42 50 48
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+f 44 51 45
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+f 58 60 61
+f 59 63 62
+f 59 62 60
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_84.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a98e70856736af71c7049b12a756837e19d88b87
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_84.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.14957984 -0.07841498 0.04105939
+v -0.14949850 -0.08157724 0.04105938
+v -0.14905012 -0.07841499 0.04452289
+v -0.14860174 -0.07841497 0.03811655
+v -0.13421804 -0.07853557 -0.06608265
+v -0.13404741 -0.07855433 -0.06995361
+v -0.13449579 -0.07918636 -0.06995361
+v -0.13590242 -0.08157683 -0.06995362
+v -0.13826333 -0.08377335 -0.05980083
+v -0.13826333 -0.08415090 -0.05980083
+v -0.14906401 -0.08651150 0.04105936
+v -0.14868506 -0.08651151 0.04418330
+v -0.14893506 -0.08157725 0.04443233
+v -0.14560200 -0.08651152 0.04542835
+v -0.14560200 -0.07841500 0.04567739
+v -0.14738756 -0.07841497 0.03704129
+v -0.13237295 -0.07853557 -0.06608265
+v -0.13993780 -0.07841495 0.03186868
+v -0.13129170 -0.07858040 -0.06995361
+v -0.13511280 -0.08545666 -0.06995363
+v -0.14824066 -0.08906988 0.03842212
+v -0.14856603 -0.08906989 0.04105935
+v -0.14852636 -0.08906990 0.04330043
+v -0.14845294 -0.08906990 0.04392297
+v -0.14569326 -0.08906991 0.04505483
+v -0.14066591 -0.08906991 0.04545098
+v -0.14066591 -0.07841500 0.04533783
+v -0.13814826 -0.07841495 0.03186868
+v -0.13762648 -0.07841495 0.03203845
+v -0.13692218 -0.07841496 0.03474360
+v -0.13639841 -0.07841497 0.03930501
+v -0.13324987 -0.07909899 -0.00507530
+v -0.12931369 -0.08157683 -0.06995362
+v -0.13646189 -0.07841498 0.04105939
+v -0.13063104 -0.08549003 -0.06995363
+v -0.14066591 -0.08906987 0.03508312
+v -0.14302682 -0.08906987 0.03578488
+v -0.14564763 -0.08906987 0.03662245
+v -0.13710470 -0.08906990 0.04420593
+v -0.13857481 -0.07841499 0.04461344
+v -0.13321415 -0.08387165 0.01470963
+v -0.13313281 -0.08354520 0.01183470
+v -0.13321415 -0.08410737 0.01470963
+v -0.13313281 -0.08422208 0.01183470
+v -0.13209719 -0.08529934 -0.02225698
+v -0.13703129 -0.07841499 0.04307411
+v -0.13569410 -0.08906989 0.04105935
+v -0.13662656 -0.08906987 0.03669036
+v -0.13937236 -0.08906987 0.03551323
+v -0.13621787 -0.08906990 0.04256473
+v -0.13740824 -0.07841499 0.04419465
+f 1 2 3
+f 1 3 15
+f 1 15 27
+f 1 27 40
+f 1 40 51
+f 1 51 46
+f 1 46 34
+f 1 34 31
+f 1 31 30
+f 1 30 29
+f 1 29 28
+f 1 28 18
+f 1 18 16
+f 1 16 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 11 12
+f 2 12 13
+f 2 13 3
+f 2 10 11
+f 3 13 14
+f 3 14 15
+f 4 16 5
+f 5 17 6
+f 5 16 18
+f 5 18 28
+f 5 28 17
+f 6 17 19
+f 6 19 33
+f 6 33 35
+f 6 35 20
+f 6 20 8
+f 6 8 7
+f 8 20 10
+f 8 10 9
+f 10 20 21
+f 10 21 22
+f 10 22 11
+f 11 22 23
+f 11 23 24
+f 11 24 12
+f 12 24 25
+f 12 25 14
+f 12 14 13
+f 14 26 15
+f 14 25 26
+f 15 26 27
+f 17 28 29
+f 17 29 30
+f 17 30 31
+f 17 31 19
+f 19 32 33
+f 19 31 34
+f 19 34 32
+f 20 35 36
+f 20 36 37
+f 20 37 38
+f 20 38 21
+f 21 38 37
+f 21 37 36
+f 21 36 49
+f 21 49 48
+f 21 48 47
+f 21 47 50
+f 21 50 39
+f 21 39 26
+f 21 26 25
+f 21 25 24
+f 21 24 23
+f 21 23 22
+f 26 39 40
+f 26 40 27
+f 32 41 42
+f 32 42 33
+f 32 34 41
+f 33 42 41
+f 33 41 43
+f 33 43 44
+f 33 44 45
+f 33 45 35
+f 34 46 47
+f 34 47 41
+f 35 45 47
+f 35 47 48
+f 35 48 49
+f 35 49 36
+f 39 50 51
+f 39 51 40
+f 41 47 43
+f 43 47 44
+f 44 47 45
+f 46 51 47
+f 47 51 50
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_85.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34e23db30ecc8631495eebfe0007ba491d1ce026
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_85.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.07280000 -0.04666521 -0.08104305
+v 0.07280000 -0.04668291 -0.08105092
+v 0.07280000 -0.04685475 -0.07652240
+v 0.09511817 -0.04667459 -0.07978294
+v 0.09511817 -0.04667458 -0.08060248
+v 0.07280000 -0.05198421 -0.08094532
+v 0.09511817 -0.05103870 -0.08089065
+v 0.09511817 -0.05185404 -0.08089065
+v 0.07280000 -0.05030460 -0.07631857
+v 0.07665843 -0.04742434 -0.07633986
+v 0.08159836 -0.04746391 -0.07636905
+v 0.08653611 -0.04748786 -0.07642743
+v 0.09511817 -0.04741914 -0.07669659
+v 0.07280000 -0.05198422 -0.08010818
+v 0.09511817 -0.05097624 -0.07669661
+v 0.08653611 -0.05111734 -0.07642745
+v 0.07280000 -0.05111213 -0.07631858
+v 0.07665843 -0.05111421 -0.07633988
+v 0.08159836 -0.05112411 -0.07636907
+f 1 2 6
+f 1 6 14
+f 1 14 17
+f 1 17 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 8
+f 2 8 6
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 4 13 15
+f 4 15 8
+f 4 8 7
+f 4 7 5
+f 6 8 14
+f 8 15 16
+f 8 16 14
+f 9 17 18
+f 9 18 10
+f 10 18 19
+f 10 19 11
+f 11 19 16
+f 11 16 12
+f 12 16 15
+f 12 15 13
+f 14 16 19
+f 14 19 17
+f 17 19 18
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_86.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..957730836296d02897e5ea4decb6833293d5c4fa
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_86.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.10890295 -0.11793861 0.04106681
+v -0.11103087 -0.11791508 0.04106681
+v -0.11354377 -0.11368538 0.02365460
+v -0.11345274 -0.11368538 0.02365460
+v -0.11152628 -0.11149293 0.02064333
+v -0.10890295 -0.11667771 0.03825387
+v -0.10890295 -0.11568030 0.04472632
+v -0.11103087 -0.11567089 0.04472632
+v -0.11597013 -0.11523804 0.04460539
+v -0.11597013 -0.11700235 0.04106681
+v -0.11527773 -0.11149293 0.02064333
+v -0.12375506 -0.11385794 0.03840867
+v -0.11119948 -0.10773847 0.02064334
+v -0.10890295 -0.11578064 0.03648821
+v -0.10890295 -0.11119974 0.04510607
+v -0.11103087 -0.11119974 0.04518346
+v -0.11597013 -0.11119974 0.04535036
+v -0.12090789 -0.11119974 0.04510607
+v -0.12414602 -0.11123424 0.04463442
+v -0.12090789 -0.11431433 0.04408053
+v -0.12359838 -0.11376543 0.04361613
+v -0.12090789 -0.11511727 0.04106682
+v -0.12414602 -0.11224889 0.03756698
+v -0.12414602 -0.11124519 0.03704695
+v -0.12414602 -0.10796435 0.03621251
+v -0.11557021 -0.10691669 0.02064335
+v -0.12414602 -0.11330434 0.03821276
+v -0.12382668 -0.11388305 0.04106682
+v -0.12414602 -0.11371524 0.04106682
+v -0.11119948 -0.10691669 0.02064335
+v -0.10890295 -0.11119970 0.03465244
+v -0.10890295 -0.11200580 0.03486287
+v -0.12414602 -0.10621733 0.04495129
+v -0.10890295 -0.10828901 0.04388221
+v -0.12414602 -0.10307764 0.04391851
+v -0.12414602 -0.11303619 0.04385317
+v -0.12414602 -0.11352392 0.04309853
+v -0.12414602 -0.10614201 0.03650760
+v -0.12414602 -0.10339441 0.03735416
+v -0.12414602 -0.10266202 0.03778953
+v -0.12414602 -0.10200806 0.03970515
+v -0.12414602 -0.10191866 0.04106687
+v -0.10890295 -0.10741861 0.04106685
+v -0.10890295 -0.10766167 0.03648824
+v -0.12270752 -0.10348382 0.04374195
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 32
+f 1 32 31
+f 1 31 44
+f 1 44 43
+f 1 43 34
+f 1 34 15
+f 1 15 7
+f 1 7 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 3 11 5
+f 3 5 4
+f 3 10 12
+f 3 12 11
+f 5 11 26
+f 5 26 30
+f 5 30 13
+f 5 13 14
+f 5 14 6
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 8 17 9
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 10 20 21
+f 10 21 22
+f 10 22 12
+f 11 23 24
+f 11 24 25
+f 11 25 26
+f 11 12 27
+f 11 27 23
+f 12 22 28
+f 12 28 29
+f 12 29 27
+f 13 30 31
+f 13 31 32
+f 13 32 14
+f 15 33 16
+f 15 34 35
+f 15 35 33
+f 16 33 17
+f 17 33 18
+f 18 33 19
+f 19 33 35
+f 19 35 42
+f 19 42 41
+f 19 41 40
+f 19 40 39
+f 19 39 38
+f 19 38 25
+f 19 25 24
+f 19 24 23
+f 19 23 27
+f 19 27 29
+f 19 29 37
+f 19 37 36
+f 19 36 20
+f 20 36 21
+f 21 36 37
+f 21 37 29
+f 21 29 28
+f 21 28 22
+f 25 38 26
+f 26 38 39
+f 26 39 40
+f 26 40 41
+f 26 41 30
+f 30 41 42
+f 30 42 43
+f 30 43 44
+f 30 44 31
+f 34 45 35
+f 34 43 42
+f 34 42 45
+f 35 45 42
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_87.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5463c7b4c3006e6d1f6b68c94039fc3c25339476
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_87.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.09756512 0.02417665 -0.08165991
+v 0.09803791 0.02417666 -0.08537941
+v 0.07665883 0.01502628 -0.07888678
+v 0.07665883 0.01502388 -0.07740768
+v 0.10135391 0.02417664 -0.08020813
+v 0.09883777 0.02417667 -0.08679642
+v 0.07665883 0.01223413 -0.08041931
+v 0.09951780 0.02417667 -0.08781478
+v 0.07665883 0.01223172 -0.07549889
+v 0.10973779 0.01259001 -0.07773306
+v 0.10973779 0.01396818 -0.07821989
+v 0.10588425 0.02417665 -0.08121159
+v 0.09147717 0.01223172 -0.07591990
+v 0.09618885 0.01223411 -0.07606644
+v 0.09641230 0.01223411 -0.07607389
+v 0.07665883 0.01223174 -0.08041931
+v 0.10072567 -0.00022428 -0.08799619
+v 0.09955018 -0.00022428 -0.08777637
+v 0.10198860 0.02417667 -0.08818611
+v 0.07665883 0.00872301 -0.07636451
+v 0.08160043 0.00870629 -0.07643281
+v 0.09147717 0.00867285 -0.07659426
+v 0.10973779 0.00912190 -0.07771569
+v 0.10135391 0.01223411 -0.07665634
+v 0.10973779 0.01473250 -0.07889424
+v 0.10973779 0.01590525 -0.08028392
+v 0.10604616 0.02417666 -0.08336380
+v 0.09618885 0.01206931 -0.07609749
+v 0.09641230 0.00857493 -0.07679172
+v 0.07665883 0.00872302 -0.07980581
+v 0.10201775 -0.00022428 -0.08817874
+v 0.09886044 -0.00022428 -0.08661643
+v 0.10417120 0.02417667 -0.08818611
+v 0.09822897 -0.00022430 -0.08209591
+v 0.10135391 -0.00022430 -0.08056465
+v 0.10585510 -0.00022430 -0.08176309
+v 0.10973779 0.00837908 -0.07863471
+v 0.10135391 0.00856060 -0.07721272
+v 0.10325477 -0.00022430 -0.08095958
+v 0.10973779 0.01611068 -0.08471129
+v 0.10617569 0.02417666 -0.08560171
+v 0.09822897 -0.00022429 -0.08534224
+v 0.10413234 -0.00022428 -0.08817874
+v 0.10523659 0.02417667 -0.08710938
+v 0.10973779 0.01223415 -0.08638044
+v 0.10444645 0.01223415 -0.08815883
+v 0.10598787 -0.00022429 -0.08336141
+v 0.10973779 0.00752401 -0.08068508
+v 0.10973779 0.01389655 -0.08583771
+v 0.10973779 0.00808054 -0.08517208
+v 0.10613036 -0.00022429 -0.08535342
+v 0.10973779 0.00770553 -0.08244361
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 27
+f 1 27 41
+f 1 41 44
+f 1 44 33
+f 1 33 19
+f 1 19 8
+f 1 8 6
+f 1 6 2
+f 2 6 3
+f 3 7 16
+f 3 16 30
+f 3 30 20
+f 3 20 9
+f 3 9 4
+f 3 6 8
+f 3 8 7
+f 4 9 5
+f 5 10 11
+f 5 11 12
+f 5 9 13
+f 5 13 14
+f 5 14 15
+f 5 15 10
+f 7 8 16
+f 8 17 18
+f 8 18 16
+f 8 19 17
+f 9 20 21
+f 9 21 22
+f 9 22 13
+f 10 23 37
+f 10 37 48
+f 10 48 52
+f 10 52 50
+f 10 50 45
+f 10 45 49
+f 10 49 40
+f 10 40 26
+f 10 26 25
+f 10 25 11
+f 10 15 24
+f 10 24 23
+f 11 25 12
+f 12 25 26
+f 12 26 27
+f 13 22 28
+f 13 28 14
+f 14 28 15
+f 15 28 29
+f 15 29 23
+f 15 23 24
+f 16 18 30
+f 17 19 31
+f 17 31 43
+f 17 43 51
+f 17 51 47
+f 17 47 36
+f 17 36 39
+f 17 39 35
+f 17 35 34
+f 17 34 42
+f 17 42 32
+f 17 32 18
+f 18 32 30
+f 19 33 43
+f 19 43 31
+f 20 30 42
+f 20 42 34
+f 20 34 35
+f 20 35 21
+f 21 35 22
+f 22 35 29
+f 22 29 28
+f 23 36 37
+f 23 29 38
+f 23 38 35
+f 23 35 39
+f 23 39 36
+f 26 40 41
+f 26 41 27
+f 29 35 38
+f 30 32 42
+f 33 44 45
+f 33 45 46
+f 33 46 43
+f 36 47 48
+f 36 48 37
+f 40 49 44
+f 40 44 41
+f 43 46 45
+f 43 45 50
+f 43 50 51
+f 44 49 45
+f 47 51 48
+f 48 51 52
+f 50 52 51
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_88.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3459925415c479fd096f8a01c1ff4c39c7e27fd
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_88.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.06257575 -0.00022621 -0.08557709
+v 0.05197645 -0.00829418 -0.08000691
+v 0.05197645 -0.00828651 -0.07602444
+v 0.06275105 -0.00022621 -0.08343857
+v 0.06323005 -0.00022620 -0.08682714
+v 0.05197645 -0.01152213 -0.08000692
+v 0.06398016 -0.00022620 -0.08820532
+v 0.06397404 -0.00257799 -0.08821133
+v 0.06395774 -0.00751599 -0.08822093
+v 0.06392105 -0.01985329 -0.08824491
+v 0.06677878 -0.00022622 -0.08068819
+v 0.06290188 -0.00022622 -0.08161017
+v 0.05197645 -0.01151253 -0.07601247
+v 0.06677878 -0.00803096 -0.07606755
+v 0.06254518 -0.01985330 -0.08557716
+v 0.06565770 -0.00022620 -0.08820532
+v 0.06566381 -0.00257799 -0.08821133
+v 0.06571885 -0.01985329 -0.08824491
+v 0.07280000 -0.00811358 -0.07609388
+v 0.06818930 -0.00022622 -0.08135753
+v 0.06293246 -0.01985331 -0.08170962
+v 0.06485867 -0.01985331 -0.08131808
+v 0.06677878 -0.01985331 -0.08094810
+v 0.06677878 -0.01163550 -0.07606756
+v 0.07171764 -0.00810013 -0.07608909
+v 0.06812611 -0.00022620 -0.08741506
+v 0.06813427 -0.00751599 -0.08760907
+v 0.06813427 -0.01245206 -0.08751689
+v 0.06818726 -0.01985329 -0.08730617
+v 0.07280000 -0.01161245 -0.07609389
+v 0.07280000 -0.00731042 -0.08071457
+v 0.06980162 -0.00022622 -0.08221964
+v 0.06972212 -0.01985331 -0.08238016
+v 0.07171764 -0.01161437 -0.07608910
+v 0.06902909 -0.00022620 -0.08614105
+v 0.07053949 -0.00751600 -0.08517360
+v 0.07043146 -0.01245207 -0.08508142
+v 0.06972212 -0.01985330 -0.08487070
+v 0.07280000 -0.01246746 -0.07994107
+v 0.07280000 -0.01246745 -0.08084869
+v 0.06980162 -0.00022621 -0.08497960
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 11
+f 1 11 20
+f 1 20 32
+f 1 32 41
+f 1 41 35
+f 1 35 26
+f 1 26 16
+f 1 16 7
+f 1 7 5
+f 1 5 2
+f 2 6 13
+f 2 13 3
+f 2 5 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 6
+f 3 11 12
+f 3 12 4
+f 3 13 14
+f 3 14 11
+f 6 15 13
+f 6 10 15
+f 7 16 17
+f 7 17 8
+f 8 10 9
+f 8 17 18
+f 8 18 10
+f 10 18 29
+f 10 29 38
+f 10 38 33
+f 10 33 23
+f 10 23 22
+f 10 22 21
+f 10 21 15
+f 11 14 19
+f 11 19 20
+f 13 15 21
+f 13 21 22
+f 13 22 23
+f 13 23 24
+f 13 24 14
+f 14 24 34
+f 14 34 25
+f 14 25 19
+f 16 26 27
+f 16 27 17
+f 17 27 18
+f 18 27 28
+f 18 28 29
+f 19 25 34
+f 19 34 30
+f 19 30 39
+f 19 39 40
+f 19 40 31
+f 19 31 32
+f 19 32 20
+f 23 33 30
+f 23 30 24
+f 24 30 34
+f 26 35 36
+f 26 36 27
+f 27 36 28
+f 28 36 29
+f 29 36 37
+f 29 37 38
+f 30 33 39
+f 31 40 36
+f 31 36 41
+f 31 41 32
+f 33 38 40
+f 33 40 39
+f 35 41 36
+f 36 40 37
+f 37 40 38
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_89.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f872ec03882fc5c88018fe41a069d20aea52028
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_89.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.09618922 0.02762109 -0.08055436
+v 0.09618922 0.02899343 -0.07754204
+v 0.07665883 0.02915473 -0.07735560
+v 0.07665883 0.02915474 -0.07900199
+v 0.09618922 0.03198673 -0.08397359
+v 0.09618922 0.03198670 -0.07636986
+v 0.08653586 0.03198670 -0.07595157
+v 0.08159735 0.03198670 -0.07579026
+v 0.07665883 0.03198670 -0.07569298
+v 0.07665883 0.03198672 -0.08032250
+v 0.07665883 0.05173125 -0.08034108
+v 0.09618922 0.05173126 -0.08384788
+v 0.09618922 0.05173123 -0.07613957
+v 0.08653586 0.05173123 -0.07580640
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+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_9.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4ef68c9e280a7c509fda1193ad534fb88f39b99
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_9.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.10385361 -0.10381214 0.02728112
+v 0.10407546 -0.10338173 0.02728112
+v 0.10356838 -0.10381214 0.02728112
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+v 0.10135376 -0.10302402 -0.05147909
+v 0.10135376 -0.10297282 -0.05634199
+v 0.10135376 -0.10291072 -0.06121538
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+v 0.10496904 -0.09754888 0.02728114
+v 0.10492343 -0.09733710 -0.06608874
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+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_90.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33ccd81e8ff1ad8a7e0c6966e830b31ec4963415
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_90.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.07280000 -0.05197870 -0.08011060
+v 0.07047630 -0.05896580 -0.08185280
+v 0.07280000 -0.05197869 -0.08094575
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+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_91.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5beec37c971d9cf46abb52411700e9fbfd63724
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_91.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.08438374 0.10274178 -0.06997821
+v -0.08438374 0.10274178 -0.06354092
+v -0.08438374 0.10424717 -0.06997821
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+v -0.08338374 0.10424717 -0.06997821
+v -0.08338374 0.10424717 -0.06354092
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+f 6 2 5
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+f 4 8 3
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+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_92.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18ea3538ea80be113754ff3c6007017625d8a17b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_92.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.11112105 0.08250350 -0.05188101
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+v -0.11117460 0.08256365 -0.04172998
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+f 50 65 66
+f 50 66 53
+f 53 66 67
+f 53 67 68
+f 53 68 54
+f 54 68 56
+f 56 68 57
+f 57 68 69
+f 60 70 71
+f 60 71 61
+f 61 71 65
+f 61 65 62
+f 65 71 72
+f 65 72 66
+f 66 72 73
+f 66 73 67
+f 67 69 68
+f 67 73 74
+f 67 74 69
+f 70 74 73
+f 70 73 71
+f 71 73 72
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_93.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cc526d6aa4eec5bca38f485a8e206daca6b7b84
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_93.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.05198144 0.07143885 -0.08019469
+v 0.05198144 0.07143884 -0.07637380
+v 0.05198144 0.07142141 -0.08019626
+v 0.05195664 0.07143683 -0.08019547
+v 0.04701962 0.07141167 -0.08026844
+v -0.01138104 0.07129603 -0.08022151
+v 0.05195664 0.07143682 -0.07636078
+v 0.05198144 0.06740139 -0.07636079
+v -0.01138104 0.07129602 -0.07627086
+v 0.05198144 0.06740140 -0.08019627
+v 0.04701962 0.06729713 -0.08026845
+v 0.03713939 0.07136704 -0.08026568
+v -0.01138104 0.06731417 -0.08022152
+v 0.03220237 0.07134837 -0.08026134
+v 0.04701962 0.07141166 -0.07627914
+v 0.04701962 0.06729712 -0.07627915
+v -0.01138104 0.06731416 -0.07627087
+v -0.00730614 0.07128304 -0.07625509
+v 0.03713939 0.06729428 -0.08026569
+v 0.03220237 0.06729631 -0.08026135
+v 0.03713939 0.07136703 -0.07626535
+v -0.00236293 0.07126681 -0.07624207
+v 0.03713939 0.06729427 -0.07626536
+v -0.00730614 0.06731294 -0.07625510
+v 0.03220237 0.06729630 -0.07626141
+v 0.03220237 0.07134836 -0.07626140
+v 0.00257409 0.07124815 -0.07623931
+v -0.00236293 0.06731172 -0.07624208
+v 0.00257409 0.06731010 -0.07623932
+f 1 2 8
+f 1 8 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 9
+f 1 9 2
+f 2 7 8
+f 2 9 7
+f 3 10 11
+f 3 11 5
+f 3 5 4
+f 5 11 19
+f 5 19 12
+f 5 12 6
+f 6 13 17
+f 6 17 9
+f 6 12 14
+f 6 14 20
+f 6 20 13
+f 7 15 8
+f 7 9 15
+f 8 15 16
+f 8 16 11
+f 8 11 10
+f 9 17 24
+f 9 24 18
+f 9 18 15
+f 11 16 23
+f 11 23 19
+f 12 19 20
+f 12 20 14
+f 13 20 19
+f 13 19 23
+f 13 23 17
+f 15 21 23
+f 15 23 16
+f 15 18 22
+f 15 22 21
+f 17 23 25
+f 17 25 24
+f 18 24 28
+f 18 28 22
+f 21 26 25
+f 21 25 23
+f 21 22 27
+f 21 27 26
+f 22 28 29
+f 22 29 27
+f 24 25 28
+f 25 26 27
+f 25 27 29
+f 25 29 28
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_94.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..600c425be2b52072e34566201e5597d79bec22f5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_94.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.14010535 0.06224500 0.03419834
+v -0.13690181 0.06254371 0.03419834
+v -0.14049610 0.06299359 0.03419834
+v -0.13826039 0.06888241 -0.04508231
+v -0.13508488 0.06662213 -0.06048617
+v -0.13078822 0.06562219 -0.06048617
+v -0.13179067 0.06666923 0.00696821
+v -0.13199841 0.06674390 0.01183406
+v -0.13220450 0.06689505 0.01669989
+v -0.13221605 0.06690780 0.01698721
+v -0.13240070 0.06711906 0.02158426
+v -0.13265791 0.06753432 0.02645010
+v -0.13443362 0.06656531 0.03419835
+v -0.12787982 0.06801548 -0.06048616
+v -0.14168486 0.06654710 0.03419835
+v -0.13826039 0.06915197 -0.04508231
+v -0.14472187 0.08085038 0.03419841
+v -0.13484581 0.07181305 -0.06048615
+v -0.12829860 0.06896984 -0.04857645
+v -0.13265791 0.06978918 0.02645011
+v -0.13301404 0.06832478 0.03132520
+v -0.13336358 0.06865079 0.03419836
+v -0.12787982 0.06973122 -0.06048615
+v -0.14035266 0.08085056 -0.01252287
+v -0.13985144 0.08085057 -0.01737944
+v -0.13932713 0.08085059 -0.02198577
+v -0.13931064 0.08085059 -0.02211552
+v -0.13572625 0.08085069 -0.04828908
+v -0.13662152 0.08085038 0.03419841
+v -0.13433470 0.07254160 -0.06048614
+v -0.12829860 0.06905727 -0.04857645
+v -0.13301404 0.06934839 0.03132520
+v -0.13240070 0.07005876 0.02158427
+v -0.13322508 0.06889669 0.03395738
+v -0.13336358 0.06879832 0.03419836
+v -0.12823264 0.07010460 -0.06048615
+v -0.13511621 0.08085068 -0.04660226
+v -0.13437427 0.08085066 -0.04172715
+v -0.13406265 0.08085065 -0.03686132
+v -0.13395878 0.08085063 -0.03198622
+v -0.13395054 0.08085057 -0.01737944
+v -0.13434954 0.08085052 -0.00278194
+v -0.13448638 0.08085050 0.00209317
+v -0.13450452 0.08085050 0.00251024
+v -0.13139496 0.07270917 -0.06048614
+v -0.13177912 0.07296963 -0.06048614
+v -0.13312781 0.07414442 -0.05924419
+v -0.13335534 0.07414442 -0.05924419
+v -0.13322508 0.06906425 0.03395738
+v -0.13478481 0.08085048 0.00696827
+v -0.13184837 0.07296963 -0.06048614
+f 1 2 13
+f 1 13 22
+f 1 22 35
+f 1 35 29
+f 1 29 17
+f 1 17 15
+f 1 15 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 6 14
+f 2 14 7
+f 3 15 4
+f 4 16 5
+f 4 15 17
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+f 5 16 18
+f 5 18 30
+f 5 30 51
+f 5 51 46
+f 5 46 45
+f 5 45 36
+f 5 36 23
+f 5 23 14
+f 5 14 6
+f 7 14 8
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+f 9 14 10
+f 10 14 11
+f 11 14 19
+f 11 19 12
+f 12 19 31
+f 12 31 20
+f 12 20 32
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+f 12 21 13
+f 13 21 22
+f 14 23 31
+f 14 31 19
+f 16 24 25
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+f 16 26 27
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+f 16 17 24
+f 17 29 50
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+f 17 37 28
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+f 17 26 25
+f 17 25 24
+f 18 28 30
+f 20 31 33
+f 20 33 29
+f 20 29 32
+f 21 32 49
+f 21 49 34
+f 21 34 22
+f 22 34 49
+f 22 49 35
+f 23 36 37
+f 23 37 38
+f 23 38 39
+f 23 39 40
+f 23 40 41
+f 23 41 42
+f 23 42 43
+f 23 43 44
+f 23 44 31
+f 28 37 36
+f 28 36 45
+f 28 45 46
+f 28 46 47
+f 28 47 48
+f 28 48 30
+f 29 35 49
+f 29 49 32
+f 29 33 50
+f 30 48 51
+f 31 44 33
+f 33 44 50
+f 46 51 48
+f 46 48 47
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_95.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52d34bec1f23fc5e73e04d6f909c0bc11aff1f10
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_95.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.12414603 -0.11371592 0.04106718
+v -0.12414603 -0.11352293 0.04309937
+v -0.12629744 -0.11257727 0.04106719
+v -0.12414603 -0.11330339 0.03821354
+v -0.12414603 -0.11303563 0.04385457
+v -0.12961299 -0.10963657 0.04417969
+v -0.13044726 -0.11010939 0.04106720
+v -0.12414603 -0.11224917 0.03756843
+v -0.12986399 -0.10966309 0.03784259
+v -0.12414603 -0.11123357 0.04463525
+v -0.12548707 -0.11124805 0.04444059
+v -0.13291659 -0.10844725 0.04106720
+v -0.13107117 -0.10657525 0.04474738
+v -0.13572776 -0.10489623 0.04419805
+v -0.13834292 -0.10391680 0.04362733
+v -0.13850547 -0.10407358 0.03837767
+v -0.12414603 -0.11124562 0.03704968
+v -0.13122177 -0.10670792 0.03707212
+v -0.13572776 -0.10517845 0.03773559
+v -0.12414603 -0.10621581 0.04495324
+v -0.12584803 -0.10626164 0.04521517
+v -0.13572776 -0.10132589 0.04518665
+v -0.13572776 -0.10628334 0.04106721
+v -0.13949751 -0.10132588 0.04419705
+v -0.13853894 -0.10409771 0.04106722
+v -0.14424494 -0.09550720 0.04428370
+v -0.14307601 -0.09879770 0.04303726
+v -0.14035568 -0.10090852 0.03787727
+v -0.14322900 -0.09898344 0.03853158
+v -0.13572776 -0.10132585 0.03639033
+v -0.12414603 -0.10796234 0.03621398
+v -0.12414603 -0.10307487 0.04391881
+v -0.13709988 -0.08907094 0.04421646
+v -0.14066404 -0.08907095 0.04546186
+v -0.14066404 -0.09145197 0.04550058
+v -0.14569355 -0.08907095 0.04505929
+v -0.14577723 -0.09139166 0.04471787
+v -0.14112301 -0.09684608 0.04478512
+v -0.14139792 -0.10090853 0.04127514
+v -0.14322900 -0.09898345 0.03979126
+v -0.14839476 -0.08970540 0.04386485
+v -0.14450073 -0.09684607 0.04127515
+v -0.14400829 -0.09639011 0.03792417
+v -0.14066404 -0.09639010 0.03658603
+v -0.14724018 -0.09227458 0.04106726
+v -0.14821787 -0.08935558 0.03845925
+v -0.14066404 -0.08907091 0.03508992
+v -0.12414603 -0.10613858 0.03650955
+v -0.12414603 -0.10191691 0.04106723
+v -0.13621781 -0.08907094 0.04256644
+v -0.14845213 -0.08907094 0.04393007
+v -0.14852863 -0.08907094 0.04330941
+v -0.14842345 -0.08980429 0.04106727
+v -0.14564814 -0.08907091 0.03663293
+v -0.14302821 -0.08907091 0.03579212
+v -0.14856449 -0.08907093 0.04106727
+v -0.14824177 -0.08907092 0.03842969
+v -0.13936842 -0.08907091 0.03552205
+v -0.12414603 -0.10339088 0.03735750
+v -0.12414603 -0.10200617 0.03970564
+v -0.13569430 -0.08907093 0.04106727
+v -0.13662419 -0.08907091 0.03670019
+v -0.12414603 -0.10265992 0.03779166
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 17
+f 1 17 31
+f 1 31 48
+f 1 48 59
+f 1 59 63
+f 1 63 60
+f 1 60 49
+f 1 49 32
+f 1 32 20
+f 1 20 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
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+f 5 11 6
+f 6 12 7
+f 6 11 13
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+f 7 12 16
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+f 16 28 19
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+f 16 25 29
+f 16 29 28
+f 17 18 30
+f 17 30 31
+f 18 19 30
+f 19 28 30
+f 20 32 33
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+f 20 34 21
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+f 21 35 22
+f 22 35 36
+f 22 36 37
+f 22 37 38
+f 22 38 26
+f 22 26 24
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+f 25 39 40
+f 25 40 29
+f 26 38 37
+f 26 37 41
+f 26 41 27
+f 27 41 42
+f 27 42 40
+f 27 40 39
+f 28 29 43
+f 28 43 44
+f 28 44 30
+f 29 40 45
+f 29 45 46
+f 29 46 43
+f 30 44 47
+f 30 47 31
+f 31 47 48
+f 32 49 50
+f 32 50 33
+f 33 50 61
+f 33 61 62
+f 33 62 58
+f 33 58 47
+f 33 47 55
+f 33 55 54
+f 33 54 57
+f 33 57 56
+f 33 56 52
+f 33 52 51
+f 33 51 36
+f 33 36 34
+f 34 36 35
+f 36 51 37
+f 37 51 41
+f 40 42 45
+f 41 51 52
+f 41 52 53
+f 41 53 45
+f 41 45 42
+f 43 46 54
+f 43 54 44
+f 44 54 55
+f 44 55 47
+f 45 53 46
+f 46 53 56
+f 46 56 57
+f 46 57 54
+f 47 58 48
+f 48 58 59
+f 49 60 61
+f 49 61 50
+f 52 56 53
+f 58 62 59
+f 59 62 63
+f 60 63 62
+f 60 62 61
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_96.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ef0d87e4ad083e45bfc716b2f4cf34b529936a0
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_96.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.10609051 0.08135450 -0.08597148
+v -0.09829315 0.08135449 -0.08543948
+v -0.10609051 0.06655015 -0.08572586
+v -0.10890146 0.08135449 -0.08559425
+v -0.10890146 0.08476308 -0.08503516
+v -0.09829315 0.08568894 -0.08462117
+v -0.09829315 0.06684819 -0.08041751
+v -0.10303345 0.06163862 -0.08399060
+v -0.10609051 0.06163862 -0.08560206
+v -0.10610505 0.06163862 -0.08560012
+v -0.10890146 0.06163862 -0.08498494
+v -0.10890146 0.08645944 -0.08453217
+v -0.10890146 0.08956995 -0.08272725
+v -0.10890146 0.09073363 -0.08200955
+v -0.10890146 0.09339390 -0.08008661
+v -0.09829315 0.08815897 -0.08195345
+v -0.09829315 0.06684818 -0.07813090
+v -0.10302618 0.06163862 -0.08396932
+v -0.10890146 0.06163860 -0.07978687
+v -0.10890146 0.09400269 -0.07859895
+v -0.09829315 0.08944312 -0.07951787
+v -0.09829315 0.06726037 -0.07629117
+v -0.10302618 0.06163861 -0.08146798
+v -0.10617877 0.06163860 -0.07885443
+v -0.10890146 0.06300203 -0.07809416
+v -0.10890146 0.09402805 -0.07783868
+v -0.09829315 0.08944312 -0.07766653
+v -0.10599601 0.06163860 -0.07886217
+v -0.10588387 0.06163860 -0.07892987
+v -0.09829315 0.07148702 -0.07555797
+v -0.10890146 0.08549546 -0.06621029
+v -0.10890146 0.08342177 -0.06664169
+v -0.10889939 0.06300520 -0.07809030
+v -0.10890146 0.09402805 -0.07782127
+v -0.10890146 0.08623742 -0.06715239
+v -0.09829315 0.08825090 -0.07706490
+v -0.09829315 0.08629136 -0.07622725
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 2 6 16
+f 2 16 21
+f 2 21 27
+f 2 27 36
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+f 2 22 17
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+f 8 24 19
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+f 8 11 10
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+f 15 20 21
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+f 17 22 23
+f 19 24 25
+f 20 26 21
+f 21 26 34
+f 21 34 27
+f 22 28 29
+f 22 29 23
+f 22 30 31
+f 22 31 32
+f 22 32 28
+f 24 32 33
+f 24 33 25
+f 24 28 32
+f 25 33 32
+f 27 34 35
+f 27 35 31
+f 27 31 36
+f 30 37 31
+f 31 37 36
+
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_97.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..611b36052ab6aa7a68033a1a478a8492d54dbe7d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_97.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.11164777 -0.08145653 -0.08181677
+v 0.11165467 -0.08144148 -0.08180824
+v 0.11617288 -0.08157692 -0.08060534
+v 0.11617288 -0.08588734 -0.08022146
+v 0.11164777 -0.08566034 -0.08118547
+v 0.11164777 -0.08143521 -0.08180611
+v 0.11873794 -0.07903609 -0.07834243
+v 0.11959158 -0.08157693 -0.07908039
+v 0.11981120 -0.08523520 -0.07927875
+v 0.11165467 -0.08566535 -0.08117481
+v 0.12232929 -0.08877309 -0.07321736
+v 0.11903630 -0.08900511 -0.07351382
+v 0.11164777 -0.08566661 -0.08110016
+v 0.11164777 -0.07882540 -0.07902493
+v 0.11617288 -0.07889312 -0.07865169
+v 0.11873794 -0.07903609 -0.07777511
+v 0.12466092 -0.08220277 -0.07096510
+v 0.12410287 -0.08280599 -0.07438611
+v 0.12410287 -0.08548103 -0.07438612
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diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_98.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51a7f9a4c186f73ed198d8b1232288de5045fbb5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_98.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_99.obj b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_99.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7f5b71ea590b1ac5f5c3257e611bfd01f2ebb79
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mjcf/mesh/utensil_holder_collision_99.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/textures/material_0.png b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9f195a37a620965b0823e4571928a329086564b2
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/textures/material_0.png
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+size 3808560
diff --git a/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/video.mp4 b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 1178218