diff --git a/.gitattributes b/.gitattributes
index d8f12e5595b527bb108ccc5381db12686ea27b92..4667c60808d344dfef12f5860557f0614ab73b77 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4474,3 +4474,6 @@ dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/spice_jar_010
 dataset/kitchen_supplies/utensils/0b6d5a4f191c5231a3c8afc0b6818c8e/mesh/spatula_027.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/0b6d5a4f191c5231a3c8afc0b6818c8e/spatula_027.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/0e13775ef1515c65a7474ebe097b9022/0e13775ef1515c65a7474ebe097b9022.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/14bdeab2a8eb5f79944916d68841e438.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mesh/utensil_holder.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mesh/utensil_holder_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/14bdeab2a8eb5f79944916d68841e438.urdf b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/14bdeab2a8eb5f79944916d68841e438.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1f176a03daba82371f23f8e729628c3b479c6c69
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/14bdeab2a8eb5f79944916d68841e438.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="utensil_holder">
+   <link name="utensil_holder">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/utensil_holder.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/utensil_holder_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.7500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.225000</scale>
+         <version>v0.1.7</version>
+         <category>utensil holder</category>
+         <description>cylindrical utensil holder with smooth surface and flat base</description>
+         <min_height>0.2</min_height>
+         <max_height>0.25</max_height>
+         <real_height>0.225</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>1.0</max_mass>
+         <generate_time>20260120022613</generate_time>
+         <gs_model>mesh/utensil_holder_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.8503546714782715</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>5</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/14bdeab2a8eb5f79944916d68841e438.usd b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/14bdeab2a8eb5f79944916d68841e438.usd
new file mode 100644
index 0000000000000000000000000000000000000000..10be76db1654c36f6f5502f32810bb4bbe5551f6
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/14bdeab2a8eb5f79944916d68841e438.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4148c35acb4211a21e9d8b052b5896addfab419e1414b434aa90a2e859b68b07
+size 831932
diff --git a/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mesh/material.mtl b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mesh/material_0.png b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1faf0c14354bad35ee1f1b4daf4c1f01178339ba
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8d68fc7bcdba21b561856e3a93db4eb55d9d6112d7bf0e7ee1ca025c3099526
+size 1532427
diff --git a/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mesh/utensil_holder.glb b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mesh/utensil_holder.glb
new file mode 100644
index 0000000000000000000000000000000000000000..935436ae4e225edefc46b52e81f7da09ef9697b5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mesh/utensil_holder.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4a8aaa7c35d286cabc2858fca1390ecbfa28dc72036093ee4493455d5ed7015
+size 2094164
diff --git a/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mesh/utensil_holder.obj b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mesh/utensil_holder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad71c9bccbba1fa364f5ec9fff01093788284150
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mesh/utensil_holder.obj
@@ -0,0 +1,51308 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mesh/utensil_holder_collision.obj b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mesh/utensil_holder_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5dd590bf278f027d45a5bec67db2be4a66dcc251
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mesh/utensil_holder_collision.obj
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diff --git a/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mesh/utensil_holder_gs.ply b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mesh/utensil_holder_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..cd2317512251b7ea1578803c37367e2b80b9e4ab
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mesh/utensil_holder_gs.ply
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diff --git a/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/14bdeab2a8eb5f79944916d68841e438.xml b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/14bdeab2a8eb5f79944916d68841e438.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8fded60646a57eac8efc8828340f6aae3dc7c183
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/14bdeab2a8eb5f79944916d68841e438.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+    <mesh name="collision_mesh_0_2" file="mesh/utensil_holder_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_5" file="mesh/utensil_holder_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/utensil_holder_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/utensil_holder_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/material_0.png
new file mode 100644
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diff --git a/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder.obj b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0132fe872bd13d7a8ed9cfe80399385c1ca90a86
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder.obj
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diff --git a/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision.obj b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4170f590d5ab285b1bd5a902a2f9d3c9c4d73b3b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision.obj
@@ -0,0 +1,9146 @@
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diff --git a/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_0.obj b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cd0465dd0759824592ce8c294afa0c145836006
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_0.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_1.obj b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d5cc4484cf487715b722953b12bcc0665e4b6bd
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_1.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_10.obj b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6b33f05a23f471a26bd03fa8f232650129913d3
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_10.obj
@@ -0,0 +1,571 @@
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diff --git a/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_11.obj b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a07b448807d536d03a74eca7fd61f9955138b7f8
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_11.obj
@@ -0,0 +1,577 @@
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diff --git a/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_12.obj b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..caf8fdfb71171cb72ea693d00fc6ea064ff7d53b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_12.obj
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+
diff --git a/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_13.obj b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1b560ff6d0ceb6b9d128c6d51b17589bb2b88b7
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_13.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.03852092 -0.05126733 -0.05009410
+v 0.03852092 -0.05126253 -0.07977117
+v 0.03935298 -0.05057698 -0.05009410
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+v 0.04493708 -0.04508687 -0.07977115
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+v 0.04677350 -0.04288899 -0.07977114
+v 0.04485319 -0.04502143 0.00423577
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+v 0.06154653 -0.00548312 0.00423592
+v 0.06101828 -0.00915533 -0.07977101
+v 0.04819730 -0.04105273 -0.07977113
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+v 0.05496713 -0.02918074 0.00423583
+v 0.05552033 -0.02810968 -0.07977108
+v 0.05578333 -0.02733979 0.00423584
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+
diff --git a/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_14.obj b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d72c6a801c80f9b59f05a47123354db1f659726e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_14.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.00015951 0.06537690 -0.07977074
+v 0.00179538 0.06538192 -0.07977074
+v 0.00015951 0.05891587 -0.07977076
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+v 0.00546658 0.06514839 -0.07977074
+v 0.00179538 0.06539937 -0.04267646
+v 0.04006709 0.03975877 -0.07977083
+v 0.00015951 0.05899343 -0.00188181
+v 0.00015951 0.06540673 0.00182682
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+v 0.00914252 0.06468132 -0.07977074
+v 0.00547133 0.06515830 -0.04267646
+v 0.04854127 0.03975877 -0.07977083
+v 0.04059019 0.03975846 0.00423609
+v 0.00015951 0.05901098 0.00423616
+v 0.00015951 0.06540672 0.00423618
+v 0.00547133 0.06516566 0.00423618
+v 0.01281372 0.06394307 -0.07977075
+v 0.00676005 0.06498486 0.00423618
+v 0.00914252 0.06464837 0.00423618
+v 0.04787552 0.04069290 -0.07977083
+v 0.04797538 0.04083321 0.00423609
+v 0.04874100 0.03975846 0.00423609
+v 0.01607594 0.06303405 -0.07977075
+v 0.01281847 0.06382222 0.00423617
+v 0.01592853 0.06296092 0.00423617
+v 0.04634426 0.04253102 -0.07977082
+v 0.04648693 0.04267133 0.00423610
+v 0.04701003 0.04202598 0.00423609
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+v 0.03565406 0.05294670 0.00423613
+v 0.03346656 0.05448349 0.00423614
+v 0.03485039 0.05352174 0.00423614
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+
diff --git a/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_15.obj b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac7ce2dab70a4a85357408b7de6cbd32bde662a5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_15.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.03606646 0.05556661 -0.10178351
+v -0.03496011 0.05635830 -0.10178350
+v -0.03606646 0.04273928 -0.10178355
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+v -0.03484663 0.05643847 -0.10178350
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+v 0.00015951 0.05901106 0.00422578
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+v -0.03493883 0.05729775 -0.08718051
+v -0.03606646 0.05266254 0.00422575
+v -0.03493883 0.05346675 0.00422576
+v -0.03231124 0.05816214 -0.10178350
+v -0.03286796 0.05872079 -0.08718050
+v 0.00015951 0.06769747 -0.10178346
+v 0.00015951 0.06540720 0.00422580
+v -0.03275095 0.05497496 0.00422576
+v -0.03214103 0.05827739 -0.10178350
+v -0.03103114 0.05979307 -0.08718050
+v -0.03030420 0.05939477 -0.10178349
+v -0.03210558 0.05537582 0.00422576
+v -0.03091412 0.05611239 0.00422577
+v -0.00188298 0.06769747 -0.10178346
+v -0.00188298 0.06817845 -0.09089608
+v 0.00015951 0.06817094 -0.09089608
+v 0.00015951 0.06832375 -0.08718047
+v -0.00188298 0.06833127 -0.08718047
+v -0.00188298 0.06540720 0.00422580
+v -0.02591071 0.06263162 -0.08796928
+v -0.02591071 0.06263163 -0.08933928
+v -0.02764825 0.05795131 0.00422577
+v -0.02776172 0.06075267 -0.10178349
+v -0.00211347 0.06768244 -0.10178346
+v -0.00555664 0.06794044 -0.09089608
+v -0.00555664 0.06809326 -0.08718047
+v -0.00555664 0.06514664 0.00422580
+v -0.02426891 0.06324042 -0.08691063
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+v -0.01657408 0.06526228 -0.10178347
+v -0.01591097 0.06293443 0.00422579
+v -0.01485426 0.06323256 0.00422579
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+
diff --git a/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_16.obj b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd225f67385e70936cd513ac6d4fe7e52148a4e6
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_16.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.00015951 -0.05883906 -0.07977120
+v 0.03852092 -0.04233297 -0.07977114
+v 0.00015951 -0.06539375 -0.07977122
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+v 0.00179671 -0.06540285 -0.07977122
+v 0.00179671 -0.06548710 -0.04267694
+v 0.00015951 -0.06547573 -0.04267694
+v 0.03852092 -0.04231252 -0.07594742
+v 0.00015951 -0.05919632 0.00423572
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+
diff --git a/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_17.obj b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d5e623ce08099f9156bc35681ee42d6ff88aa21
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_17.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_18.obj b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f9a1a1646257860e10c3b1666b646612a78d996
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_18.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_19.obj b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f06dea9f130bf061132a5b66b800c6dcdcd2a70
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_19.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.06300029 -0.01557256 -0.08738548
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diff --git a/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_2.obj b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f336889755630c19ed3199c1ec309fb040f3dae
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_2.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_20.obj b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5258b6395250dfea3054e5439f5c326da571f1fe
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_20.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_21.obj b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a63fa89efbb602efae0293ac4d12f31f249728b9
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_21.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_22.obj b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f63d40cac26bfd84a7bb92e912f158c36741c68
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_22.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.00016322 0.06773078 -0.09886521
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+
diff --git a/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_23.obj b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7365d07ed0e7fd54f49d62fd8aee70c8719aea6d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_23.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+v 0.03921145 -0.04107272 -0.09832125
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+
diff --git a/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_24.obj b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26a4fa95923d7f92ae8e77bb8e3855fb920696bb
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_24.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_25.obj b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03f5c074e2022adf5a175a4c8fce254b2914eaa3
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_25.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_26.obj b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03c4c90156ce22e0cf3334a9afa5e206afb47875
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_26.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_27.obj b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..978693af995c1ff0ef3956e7d3d09e57a7f9647f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_27.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_28.obj b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..368b3147f994b02387df914ec9b1eca92df01f05
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_28.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_29.obj b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d00cc78699e72392ec5e834692107234cfe2d576
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_29.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_3.obj b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..452461d365dd06a0279855c37033d9310d913dff
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_3.obj
@@ -0,0 +1,445 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_4.obj b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f82fc98c1c845f0eb19b99885b795d9440626876
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_4.obj
@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_5.obj b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e418de80bf8309eae68f19e9a4052e8f7a6a0b9c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_5.obj
@@ -0,0 +1,403 @@
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diff --git a/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_6.obj b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb321c6ea15ce6e9fb8f1f680484b3ff463b8b45
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_6.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_7.obj b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..791b2b4d1ea9f4733619af16f077f6c99f4409cb
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_7.obj
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diff --git a/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_8.obj b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c42b5c8855368a0e7f5d25cd340b222a670734a8
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_8.obj
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diff --git a/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_9.obj b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6d3eba9e82a4e5c41547a65e0175545d99e1dff
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mjcf/mesh/utensil_holder_collision_9.obj
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