diff --git a/.gitattributes b/.gitattributes
index c14b920929fac5cd87f19915aa831e75ece6e998..ed5344ae87fbf0dcb45776a0473be1e0ab59fa6c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4550,3 +4550,6 @@ dataset/kitchen_supplies/utensils/801c1d9277c95aa9b76ca84e774f2bb8/mesh/plate.gl
 dataset/kitchen_supplies/utensils/801c1d9277c95aa9b76ca84e774f2bb8/mesh/plate_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/bottle_opener_016.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mesh/bottle_opener_016.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/92bf2332f2ba550e8c26e9278d90fd62.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mesh/utensil_holder.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mesh/utensil_holder_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/92bf2332f2ba550e8c26e9278d90fd62.urdf b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/92bf2332f2ba550e8c26e9278d90fd62.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7e08c0e854c20dd2441a736b96dd92f51bad2e9c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/92bf2332f2ba550e8c26e9278d90fd62.urdf
@@ -0,0 +1,57 @@
+<?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>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4500" />
+         <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>0.377283</scale>
+         <version>v0.1.7</version>
+         <category>utensil holder</category>
+         <description>black wireframe basket with rectangular shape and open top</description>
+         <min_height>0.1</min_height>
+         <max_height>0.15</max_height>
+         <real_height>0.125</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.6</max_mass>
+         <generate_time>20260120022249</generate_time>
+         <gs_model>mesh/utensil_holder_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: geometry appears uneven and distorted, with structural inconsistencies and possible missing or redundant parts.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.506392478942871</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>0</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="None" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/92bf2332f2ba550e8c26e9278d90fd62.usd b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/92bf2332f2ba550e8c26e9278d90fd62.usd
new file mode 100644
index 0000000000000000000000000000000000000000..ed20a48bd3920a530cc8dd5449e842b3e645f7e6
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/92bf2332f2ba550e8c26e9278d90fd62.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0e64faf0c037e29884a5525917a4047bfb297a7d50ebec668adc6a0a7ee72b1
+size 394419
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mesh/material.mtl b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/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/92bf2332f2ba550e8c26e9278d90fd62/mesh/material_0.png b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..509929b3fe1d9418b058ca5279a00e4fa45f802c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:211ef98b70304d360385197a9bfb3c6646baaa2cd8df7cd199fc6699c500c680
+size 3097132
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mesh/utensil_holder.glb b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mesh/utensil_holder.glb
new file mode 100644
index 0000000000000000000000000000000000000000..27005a78a95976cd35e9326a8d1f1321dfa0e2c5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mesh/utensil_holder.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8cfb079b786fbd676051e14809e0a1e9deffb160dc237bd63d58e8d750c24b2f
+size 3411300
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mesh/utensil_holder.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mesh/utensil_holder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ddc55e52385292031cf053f8100d1f0f35ba62e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mesh/utensil_holder.obj
@@ -0,0 +1,29314 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mesh/utensil_holder_collision.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mesh/utensil_holder_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a6c02aca0c73ba7e7c055a987c584603ebc93f1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mesh/utensil_holder_collision.obj
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diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/92bf2332f2ba550e8c26e9278d90fd62.xml b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/92bf2332f2ba550e8c26e9278d90fd62.xml
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diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder.obj
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diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d07661884cba12ff5261dc6eed05fc87a911bc4
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision.obj
@@ -0,0 +1,15728 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_0.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d26ffd773154e9ceb2c57786e21d04e6ff67d1a0
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_0.obj
@@ -0,0 +1,169 @@
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+v 0.01506746 -0.09905748 0.01565530
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+v 0.01495934 -0.09888116 0.01565530
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+f 1 13 19
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+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_1.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cfac5ac3af91ae38424c7aa9c32d310102b7689
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_1.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.13205683 0.08270764 -0.05595703
+v -0.12808680 0.06406569 -0.06128422
+v -0.13205683 0.06373985 -0.06116958
+v -0.13205683 0.08270759 -0.04295265
+v -0.11575463 0.08270764 -0.05626767
+v -0.12184817 0.06412695 -0.06133044
+v -0.12808680 0.06193247 -0.06128423
+v -0.13205683 0.06204664 -0.06116958
+v -0.13205683 0.05429908 -0.05222760
+v -0.12038414 0.05426007 -0.04693560
+v -0.11967190 0.05426007 -0.04689863
+v -0.11560955 0.05426007 -0.04686164
+v -0.00316916 0.08270759 -0.04244416
+v -0.09688047 0.08270764 -0.05632130
+v -0.12184817 0.06189348 -0.06133045
+v -0.09503394 0.08270764 -0.05632315
+v -0.04697145 0.08270764 -0.05636568
+v -0.00952649 0.06437481 -0.06128976
+v -0.11560955 0.06412417 -0.06133229
+v -0.11943450 0.05426010 -0.05533955
+v -0.13205683 0.05508442 -0.05534695
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+v -0.12079301 0.05426009 -0.05256412
+v -0.12099086 0.05426009 -0.05162481
+v -0.12072706 0.05426007 -0.04761236
+v -0.09598358 0.05426007 -0.04681912
+v -0.04697145 0.05426007 -0.04692636
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+v -0.09139364 0.05426007 -0.04681912
+v -0.11560955 0.06190184 -0.06133230
+v -0.00952649 0.06193525 -0.06128977
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+v -0.00101927 0.05426010 -0.05543755
+v -0.11795727 0.05426010 -0.05534510
+v -0.04073282 0.08270764 -0.05632869
+v -0.00327467 0.06434696 -0.06127867
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+v -0.03219922 0.08270764 -0.05625843
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+v -0.00051807 0.08270763 -0.05562790
+v -0.02824237 0.08270764 -0.05621775
+v -0.00327467 0.08270763 -0.05574624
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+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_10.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63cb83a3a583cfb424190f8c478c867e06211c72
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_10.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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+v 0.13642797 -0.07481760 -0.04473856
+v 0.14035619 -0.07481755 -0.05651543
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+v 0.13642797 -0.08206351 -0.04474396
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+v 0.13642797 -0.07543152 -0.05479619
+v 0.14651641 -0.07481754 -0.05855973
+v 0.13642797 -0.08793958 -0.04632354
+v 0.14319376 -0.10368544 -0.03340235
+v 0.13642797 -0.08971485 -0.04769089
+v 0.13642797 -0.09422399 -0.05126373
+v 0.15992434 -0.08281652 -0.03340227
+v 0.14477899 -0.07481761 -0.04181314
+v 0.16524439 -0.08204907 -0.03340227
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+v 0.14249943 -0.08510141 -0.06084315
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+v 0.14362494 -0.08510141 -0.06084315
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+v 0.14322229 -0.10374626 -0.03340235
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+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_11.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbbc8dd4021841d9c0b80759d5cb409c414bdaaa
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_11.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v -0.14615620 0.00034779 -0.04709031
+v -0.14615620 0.00034779 -0.04657142
+v -0.14597400 0.00034781 -0.05126878
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+v 0.02653704 -0.01434202 -0.04702117
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+v -0.14868884 -0.00819065 -0.05305753
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diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_12.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6472509abbe7f419d13c34070cf23a68b43ac935
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_12.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_13.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac9bc6f5651da424d76d6f93b0e033fe032198f3
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_13.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_14.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67ce82941ff552dca7eb5d07a7e20a22358663b8
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_14.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_15.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68c9250aaeb5552d973e2c06c8b993c96cbe927a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_15.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_16.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4375a0471eacd42b53a79074d6dced14507baa8
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_16.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_17.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f418baac76e06282377dfa9249bebd166defb51e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_17.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_18.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45088125b3481ab84a02761cc397f4a0d4730c44
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_18.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_19.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a30a87c612e38313a1ce46baa151684fe7f46aef
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_19.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_2.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28dbc1c2c5025d3f2b692b96047173abffc90fdc
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_2.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_20.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e609ab232c92b22fc885f2cbeec374a7519f28dd
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_20.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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+v 0.13061397 -0.09760609 -0.06095161
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+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_21.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4771cbb5a1e4c04ae2376f9a9db4637fd276328a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_21.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.15508381 -0.05791401 -0.05592793
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+v 0.15508381 -0.05919650 -0.05592794
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+v 0.15508381 -0.06338908 -0.04305105
+v 0.15508381 -0.01210683 -0.04115681
+v 0.15508381 -0.06119793 -0.04150096
+f 1 2 8
+f 1 8 3
+f 1 3 10
+f 1 10 17
+f 1 17 21
+f 1 21 30
+f 1 30 40
+f 1 40 42
+f 1 42 41
+f 1 41 31
+f 1 31 22
+f 1 22 14
+f 1 14 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 13
+f 2 13 8
+f 2 6 9
+f 2 9 7
+f 3 8 10
+f 4 11 5
+f 5 11 9
+f 5 9 6
+f 7 12 19
+f 7 19 13
+f 7 9 12
+f 8 13 10
+f 9 11 14
+f 9 14 15
+f 9 15 16
+f 9 16 12
+f 10 13 17
+f 12 18 28
+f 12 28 19
+f 12 16 18
+f 13 19 20
+f 13 20 21
+f 13 21 17
+f 14 22 23
+f 14 23 24
+f 14 24 15
+f 15 24 25
+f 15 25 26
+f 15 26 16
+f 16 26 27
+f 16 27 18
+f 18 27 34
+f 18 34 28
+f 19 28 29
+f 19 29 20
+f 20 29 30
+f 20 30 21
+f 22 31 23
+f 23 32 24
+f 23 31 33
+f 23 33 39
+f 23 39 38
+f 23 38 37
+f 23 37 36
+f 23 36 35
+f 23 35 34
+f 23 34 27
+f 23 27 26
+f 23 26 32
+f 24 32 26
+f 24 26 25
+f 28 34 35
+f 28 35 36
+f 28 36 29
+f 29 37 30
+f 29 36 37
+f 30 37 38
+f 30 38 39
+f 30 39 40
+f 31 41 33
+f 33 41 42
+f 33 42 39
+f 39 42 40
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_22.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..128c2bb138b5ee008964bd3c53d3461e4f906878
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_22.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.06670782 -0.09437523 0.02117723
+v -0.06670782 -0.09688878 0.02249047
+v -0.06670782 -0.09408493 0.02119463
+v -0.06356943 -0.08987980 -0.04080642
+v -0.06356943 -0.09371792 -0.04080643
+v -0.06670782 -0.09765188 0.02289923
+v -0.06670782 -0.08960365 0.02213392
+v -0.06257836 -0.08924185 -0.04080642
+v -0.06670782 -0.08931509 0.02300363
+v -0.06670782 -0.08823042 0.02795224
+v -0.06670782 -0.08780110 0.03507510
+v -0.06001091 -0.09636707 -0.04080644
+v -0.06075781 -0.09683991 -0.03326613
+v -0.06670782 -0.10045752 0.03407489
+v -0.05935020 -0.08774345 -0.04080641
+v -0.06670782 -0.08883713 0.04064988
+v -0.03011003 -0.09020170 0.04477227
+v -0.03011003 -0.08937774 0.04019764
+v -0.05320269 -0.08817657 0.03407494
+v -0.03448726 -0.08839206 0.02182954
+v -0.03455549 -0.08751748 -0.04080641
+v -0.05930711 -0.09685378 -0.04080645
+v -0.06670782 -0.10107985 0.04019760
+v -0.06670782 -0.08929951 0.04200662
+v -0.06670782 -0.09044679 0.04415478
+v -0.03011003 -0.09439967 0.04766836
+v -0.03002385 -0.08947130 -0.04080642
+v -0.03011003 -0.08881275 0.02795223
+v -0.03329869 -0.08781994 -0.04080641
+v -0.03764001 -0.09747608 -0.04080645
+v -0.05709156 -0.09755085 -0.03810168
+v -0.04481450 -0.10366639 0.03702318
+v -0.04481450 -0.10366639 0.03733627
+v -0.03011003 -0.10527606 0.04025846
+v -0.03011003 -0.10484151 0.04537230
+v -0.06670782 -0.09872275 0.04458090
+v -0.06670782 -0.09397899 0.04540713
+v -0.03011003 -0.10058099 0.04802492
+v -0.03034703 -0.09340156 -0.04080643
+v -0.03011003 -0.10513350 0.03918003
+v -0.03744252 -0.09747608 -0.04080645
+v -0.03444417 -0.09650265 -0.04080644
+f 1 2 6
+f 1 6 14
+f 1 14 23
+f 1 23 36
+f 1 36 37
+f 1 37 25
+f 1 25 24
+f 1 24 16
+f 1 16 11
+f 1 11 10
+f 1 10 9
+f 1 9 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 8 15
+f 4 15 21
+f 4 21 29
+f 4 29 27
+f 4 27 39
+f 4 39 42
+f 4 42 41
+f 4 41 30
+f 4 30 22
+f 4 22 12
+f 4 12 5
+f 4 7 9
+f 4 9 10
+f 4 10 11
+f 4 11 8
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 8 11 15
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 15
+f 12 22 13
+f 13 22 23
+f 13 23 14
+f 16 24 17
+f 17 24 25
+f 17 25 26
+f 17 26 27
+f 17 27 18
+f 18 28 19
+f 18 27 28
+f 19 28 20
+f 20 28 21
+f 21 28 29
+f 22 30 31
+f 22 31 23
+f 23 32 33
+f 23 33 34
+f 23 34 35
+f 23 35 36
+f 23 31 32
+f 25 37 26
+f 26 38 27
+f 26 37 38
+f 27 29 28
+f 27 38 35
+f 27 35 34
+f 27 34 40
+f 27 40 39
+f 30 41 34
+f 30 34 31
+f 31 34 32
+f 32 34 33
+f 34 41 42
+f 34 42 40
+f 35 38 36
+f 36 38 37
+f 39 40 42
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_23.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c79b75d1c8ab42a8270117d9c22809cb181a9e20
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_23.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.06407083 0.03519068 -0.05251058
+v -0.06717959 0.02790905 -0.04707645
+v -0.06696956 0.02790906 -0.04781301
+v -0.06696956 0.02790907 -0.05156084
+v -0.06407083 0.03598773 -0.05777030
+v -0.06407083 0.04107168 -0.05043658
+v -0.07168158 0.02790905 -0.04707645
+v -0.06716503 0.05426007 -0.04709573
+v -0.07084564 0.02790907 -0.05156084
+v -0.08531437 0.03770561 -0.06107509
+v -0.06568863 0.03774430 -0.06103356
+v -0.06407083 0.03774946 -0.06102940
+v -0.06407083 0.04684951 -0.05259639
+v -0.08531437 0.03644942 -0.05270718
+v -0.08531437 0.03627662 -0.05769415
+v -0.07184585 0.02790907 -0.05145009
+v -0.07108685 0.05426007 -0.04709573
+v -0.07176059 0.05337276 -0.04710958
+v -0.07192902 0.04106392 -0.04710963
+v -0.08531437 0.04106394 -0.05099592
+v -0.06678450 0.05426009 -0.05206471
+v -0.08531437 0.03819312 -0.06109724
+v -0.08440982 0.03770819 -0.06107371
+v -0.08440982 0.04106397 -0.06121769
+v -0.06407083 0.04020762 -0.06112077
+v -0.06407083 0.04688305 -0.05365414
+v -0.07186872 0.05426007 -0.04713173
+v -0.08531437 0.04411020 -0.05227657
+v -0.06805919 0.05426010 -0.05409438
+v -0.06407083 0.04593642 -0.05777026
+v -0.06407083 0.04571203 -0.05859404
+v -0.06407083 0.04427273 -0.06095462
+v -0.08531437 0.04106397 -0.06121907
+v -0.07192902 0.04106397 -0.06117754
+v -0.06407083 0.04106397 -0.06115123
+v -0.06568863 0.04106397 -0.06115677
+v -0.07219519 0.05426008 -0.04807873
+v -0.08531437 0.04549533 -0.05298404
+v -0.07001802 0.05426010 -0.05409438
+v -0.07192902 0.04428305 -0.06096293
+v -0.08440982 0.04428821 -0.06097539
+v -0.08531437 0.04428821 -0.06097539
+v -0.07816734 0.04428305 -0.06096985
+v -0.08531437 0.04561916 -0.05683295
+v -0.07211409 0.05426009 -0.05204256
+v -0.07150690 0.05426010 -0.05328861
+v -0.08531437 0.04459773 -0.06051158
+v -0.08531437 0.04541281 -0.05777026
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 25
+f 1 25 35
+f 1 35 32
+f 1 32 31
+f 1 31 30
+f 1 30 26
+f 1 26 13
+f 1 13 6
+f 1 6 2
+f 2 7 16
+f 2 16 9
+f 2 9 4
+f 2 4 3
+f 2 6 8
+f 2 8 17
+f 2 17 7
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 6 13 8
+f 7 14 15
+f 7 15 16
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 14
+f 8 13 21
+f 8 21 29
+f 8 29 39
+f 8 39 46
+f 8 46 45
+f 8 45 37
+f 8 37 27
+f 8 27 17
+f 9 16 10
+f 10 22 23
+f 10 23 11
+f 10 16 15
+f 10 15 14
+f 10 14 20
+f 10 20 28
+f 10 28 38
+f 10 38 44
+f 10 44 48
+f 10 48 47
+f 10 47 42
+f 10 42 33
+f 10 33 22
+f 11 23 22
+f 11 22 24
+f 11 24 12
+f 12 24 25
+f 13 26 21
+f 17 27 18
+f 18 27 19
+f 19 27 20
+f 20 27 28
+f 21 26 30
+f 21 30 31
+f 21 31 32
+f 21 32 29
+f 22 33 24
+f 24 33 32
+f 24 32 34
+f 24 34 25
+f 25 34 36
+f 25 36 35
+f 27 37 38
+f 27 38 28
+f 29 32 40
+f 29 40 41
+f 29 41 42
+f 29 42 39
+f 32 33 40
+f 32 35 36
+f 32 36 34
+f 33 42 41
+f 33 41 43
+f 33 43 40
+f 37 44 38
+f 37 45 44
+f 39 42 47
+f 39 47 46
+f 40 43 41
+f 44 45 48
+f 45 46 48
+f 46 47 48
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_24.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17eef40ee3a83d9588e07d8c20c1ddc58a2c5781
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_24.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.16561802 0.03571822 -0.03374344
+v 0.16561802 0.03990117 -0.03374342
+v 0.16534276 0.01643850 -0.03374351
+v 0.16490157 0.01643852 -0.03940042
+v 0.16556523 0.04058830 -0.03374342
+v 0.16377036 0.03605431 -0.04552576
+v 0.16530882 0.01603726 -0.03374351
+v 0.16487141 0.01106686 -0.03374353
+v 0.16443401 0.01117722 -0.03940044
+v 0.16364592 0.01175905 -0.04552585
+v 0.16346115 0.04099963 -0.04494823
+v 0.16418513 0.04165162 -0.03953949
+v 0.15800865 0.05008778 -0.04611715
+v 0.14418888 0.05008777 -0.04219744
+v 0.15963384 0.04098453 -0.03374342
+v 0.16277111 0.03706244 -0.04944314
+v 0.16277111 0.03890314 -0.04944314
+v 0.16275226 0.01266688 -0.04936902
+v 0.16445663 0.01102674 -0.03374353
+v 0.14457349 -0.00115095 -0.04182420
+v 0.14724319 -0.00115094 -0.04343384
+v 0.14769190 -0.00115094 -0.04370520
+v 0.15177939 -0.00115093 -0.04676443
+v 0.15323489 -0.00115091 -0.05095319
+v 0.15346114 -0.00115091 -0.05164668
+v 0.15709614 0.05008780 -0.05061670
+v 0.16214894 0.04415940 -0.04252217
+v 0.14288421 0.05008777 -0.04219744
+v 0.15924923 0.04097450 -0.03374342
+v 0.15665496 0.01261173 -0.05520220
+v 0.15665496 0.01457280 -0.05520220
+v 0.15646642 0.03890316 -0.05503743
+v 0.15488648 0.05008781 -0.05367825
+v 0.15611575 0.05008780 -0.05204542
+v 0.15131558 -0.00115089 -0.05607664
+v 0.14231481 -0.00115095 -0.04182420
+v 0.15856295 0.01148816 -0.03374353
+v 0.12709986 0.05008778 -0.04543990
+v 0.12709986 0.04105981 -0.04525438
+v 0.15818965 0.01589180 -0.03374351
+v 0.15303505 0.01654893 -0.05610442
+v 0.15276355 0.01045004 -0.05608820
+v 0.15298603 0.04099465 -0.05595125
+v 0.15176807 0.05008782 -0.05585149
+v 0.15322359 0.05008781 -0.05489127
+v 0.15064063 -0.00115089 -0.05623668
+v 0.12709986 -0.00115093 -0.04550734
+v 0.12709986 0.05008780 -0.05275979
+v 0.12709986 0.03490575 -0.04521961
+v 0.14651166 0.01028453 -0.05743575
+v 0.14651166 0.04105985 -0.05733126
+v 0.14651166 0.05008782 -0.05685577
+v 0.14651166 -0.00115089 -0.05702294
+v 0.12709986 -0.00115091 -0.05273677
+v 0.12709986 0.04016207 -0.05644991
+v 0.12709986 0.01196975 -0.05603486
+v 0.12709986 0.01643859 -0.05615312
+v 0.12709986 0.03585373 -0.05644993
+v 0.12709986 0.01140801 -0.05601398
+f 1 2 5
+f 1 5 15
+f 1 15 29
+f 1 29 40
+f 1 40 37
+f 1 37 19
+f 1 19 8
+f 1 8 7
+f 1 7 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 4
+f 4 7 8
+f 4 8 9
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+f 4 10 6
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 6 11
+f 6 16 17
+f 6 17 11
+f 6 10 18
+f 6 18 16
+f 8 19 20
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+f 11 17 26
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+f 16 30 31
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+f 17 31 32
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+f 17 33 34
+f 17 34 26
+f 18 25 35
+f 18 35 30
+f 19 36 20
+f 19 37 36
+f 20 36 47
+f 20 47 54
+f 20 54 53
+f 20 53 46
+f 20 46 35
+f 20 35 25
+f 20 25 24
+f 20 24 23
+f 20 23 22
+f 20 22 21
+f 28 38 29
+f 29 38 39
+f 29 39 40
+f 30 41 31
+f 30 35 42
+f 30 42 41
+f 31 41 43
+f 31 43 32
+f 32 43 44
+f 32 44 45
+f 32 45 33
+f 35 46 42
+f 36 37 47
+f 37 40 47
+f 38 48 55
+f 38 55 58
+f 38 58 57
+f 38 57 56
+f 38 56 59
+f 38 59 54
+f 38 54 47
+f 38 47 49
+f 38 49 39
+f 39 49 40
+f 40 49 47
+f 41 42 50
+f 41 50 51
+f 41 51 43
+f 42 46 50
+f 43 51 44
+f 44 51 52
+f 46 53 50
+f 48 52 55
+f 50 53 56
+f 50 56 57
+f 50 57 58
+f 50 58 55
+f 50 55 51
+f 51 55 52
+f 53 54 59
+f 53 59 56
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_25.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb30281d6dc254491f3eeee787e73feab9514417
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_25.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.15508380 -0.06527033 -0.05116510
+v 0.15508380 -0.06514053 -0.05166257
+v 0.15508380 -0.06338831 -0.04305048
+v 0.15446636 -0.07481757 -0.05182275
+v 0.15508380 -0.06320800 -0.05484844
+v 0.15508380 -0.06119620 -0.04150184
+v 0.15272546 -0.07481759 -0.04636417
+v 0.15172929 -0.07481755 -0.05657770
+v 0.15508380 -0.06234267 -0.05587405
+v 0.14236276 -0.07481761 -0.04181195
+v 0.14477521 -0.07481761 -0.04181195
+v 0.14734361 -0.07481760 -0.04319193
+v 0.14789739 -0.07481760 -0.04349348
+v 0.15508380 -0.01211154 -0.04115581
+v 0.15085088 -0.07481755 -0.05692696
+v 0.15508380 -0.05919872 -0.05592685
+v 0.14651293 -0.07481754 -0.05856078
+v 0.12256988 -0.06359020 -0.04575422
+v 0.12256988 -0.07481759 -0.04580707
+v 0.14227684 -0.06359022 -0.04181021
+v 0.14230865 -0.06974834 -0.04181194
+v 0.12256988 -0.00818878 -0.04553595
+v 0.15508380 -0.01051793 -0.04115751
+v 0.14230865 -0.00203790 -0.04182192
+v 0.14229274 -0.00818880 -0.04181683
+v 0.14228002 -0.01434692 -0.04181173
+v 0.14227364 -0.02050504 -0.04181176
+v 0.15508380 -0.05791517 -0.05592684
+v 0.15327287 -0.05702102 -0.05652995
+v 0.14651293 -0.06974828 -0.05851307
+v 0.15297052 -0.03287169 -0.05640208
+v 0.12256988 -0.07481756 -0.05392679
+v 0.12256988 -0.05743204 -0.05796103
+v 0.12256988 -0.00189366 -0.04553933
+v 0.15508380 -0.00779939 -0.04535025
+v 0.15178022 -0.00115814 -0.04676597
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+v 0.15131555 -0.00115810 -0.05607826
+v 0.12256988 -0.00115812 -0.05283276
+f 1 2 5
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+f 1 16 28
+f 1 28 41
+f 1 41 44
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+f 1 35 23
+f 1 23 14
+f 1 14 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
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+f 4 12 11
+f 4 11 10
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+f 4 17 15
+f 4 15 8
+f 4 8 9
+f 4 9 5
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+f 6 12 13
+f 6 13 7
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+f 9 17 16
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+f 10 14 20
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+f 17 30 31
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+f 35 49 50
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+f 42 46 43
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+f 44 52 49
+f 44 49 48
+f 45 53 46
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_26.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d729f0e552b4374f472b797bcf21fefd5bf927f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_26.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v 0.16908678 0.06170404 -0.03374334
+v 0.16875796 0.06208271 -0.03771726
+v 0.16908678 0.06530569 -0.03374333
+v 0.16887305 0.06158685 -0.03374334
+v 0.15800955 0.05008778 -0.04611678
+v 0.16295423 0.06182130 -0.04930145
+v 0.16582322 0.06568889 -0.04552540
+v 0.16875796 0.06441769 -0.03771725
+v 0.15709297 0.05008780 -0.05061683
+v 0.16557248 0.08968328 -0.03374324
+v 0.16527244 0.05997309 -0.03374335
+v 0.14419077 0.05008777 -0.04219873
+v 0.16326250 0.06568890 -0.04965762
+v 0.15611472 0.05008780 -0.05204390
+v 0.15488574 0.05008781 -0.05367816
+v 0.16332005 0.08856541 -0.04400279
+v 0.16436407 0.08961568 -0.03940031
+v 0.15899603 0.09173430 -0.03940030
+v 0.14651720 0.09613829 -0.03374322
+v 0.16476275 0.05994605 -0.03374335
+v 0.14288782 0.05008777 -0.04219873
+v 0.15322107 0.05008781 -0.05489106
+v 0.15899603 0.06568891 -0.05247219
+v 0.15790270 0.08415240 -0.05028845
+v 0.16280626 0.06967821 -0.04929676
+v 0.15731903 0.08830850 -0.04971342
+v 0.15923854 0.08988618 -0.04583494
+v 0.15413767 0.09263136 -0.04552530
+v 0.14651720 0.09581376 -0.03940029
+v 0.14157253 0.09571908 -0.03374322
+v 0.16029488 0.06082505 -0.03374335
+v 0.12709610 0.05008778 -0.04543932
+v 0.15176603 0.05008782 -0.05585020
+v 0.15531321 0.05953142 -0.05427642
+v 0.15530088 0.06568892 -0.05446032
+v 0.15477887 0.07184643 -0.05414601
+v 0.15397737 0.07799492 -0.05365245
+v 0.15239902 0.08412538 -0.05348015
+v 0.14895871 0.08616285 -0.05447188
+v 0.14479910 0.08809215 -0.05515864
+v 0.15215652 0.09034146 -0.05036292
+v 0.14968212 0.09340669 -0.04861225
+v 0.15101796 0.09359149 -0.04552530
+v 0.14651720 0.09484914 -0.04552529
+v 0.13966946 0.09441641 -0.04536466
+v 0.14075457 0.09530889 -0.03940029
+v 0.14113273 0.09567850 -0.03374322
+v 0.14103408 0.09100854 -0.03374324
+v 0.12709610 0.05008780 -0.05275860
+v 0.12709610 0.08497728 -0.04050846
+v 0.14651720 0.05008782 -0.05685590
+v 0.14651720 0.05953143 -0.05708401
+v 0.15218939 0.05953142 -0.05578963
+v 0.15218117 0.06568892 -0.05572442
+v 0.15165917 0.07184643 -0.05553118
+v 0.15085355 0.07799492 -0.05522385
+v 0.15008493 0.08205634 -0.05492818
+v 0.14673504 0.08412538 -0.05539844
+v 0.14027779 0.08823639 -0.05521684
+v 0.14027779 0.09131062 -0.05236500
+v 0.14651720 0.09377632 -0.04926409
+v 0.14673504 0.09021075 -0.05265834
+v 0.14651720 0.07799493 -0.05605030
+v 0.14027779 0.06568893 -0.05737731
+v 0.14027779 0.09378533 -0.04930134
+v 0.13614284 0.09342022 -0.04866579
+v 0.12709610 0.09288830 -0.04552530
+v 0.12709610 0.09246907 -0.04442415
+v 0.12709610 0.08998983 -0.04041765
+v 0.12709610 0.06037436 -0.05673713
+v 0.12709610 0.06568893 -0.05752398
+v 0.14651720 0.06568893 -0.05710028
+v 0.14651720 0.07184644 -0.05657878
+v 0.12709610 0.08755573 -0.05483737
+v 0.12709610 0.08798396 -0.05445558
+v 0.12709610 0.09062095 -0.05166661
+f 1 2 8
+f 1 8 3
+f 1 3 10
+f 1 10 19
+f 1 19 30
+f 1 30 47
+f 1 47 48
+f 1 48 31
+f 1 31 20
+f 1 20 11
+f 1 11 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 5 9
+f 2 9 6
+f 3 8 10
+f 4 11 5
+f 5 12 21
+f 5 21 32
+f 5 32 49
+f 5 49 51
+f 5 51 33
+f 5 33 22
+f 5 22 15
+f 5 15 14
+f 5 14 9
+f 5 11 12
+f 6 13 7
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+f 7 13 16
+f 7 16 8
+f 8 16 17
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+f 11 20 12
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+f 13 15 22
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+f 13 23 24
+f 13 24 25
+f 13 25 16
+f 16 24 26
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+f 16 28 17
+f 16 25 24
+f 17 28 18
+f 18 28 29
+f 18 29 19
+f 19 29 30
+f 20 31 21
+f 21 31 32
+f 22 33 23
+f 23 33 34
+f 23 34 35
+f 23 35 36
+f 23 36 24
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+f 24 37 38
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+f 26 40 41
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+f 26 42 27
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+f 29 44 45
+f 29 45 46
+f 29 46 30
+f 30 46 47
+f 31 48 32
+f 32 48 50
+f 32 50 69
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+f 32 68 67
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+f 32 75 74
+f 32 74 71
+f 32 71 70
+f 32 70 49
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+f 33 35 34
+f 35 53 54
+f 35 54 55
+f 35 55 36
+f 36 55 56
+f 36 56 37
+f 37 56 38
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+f 39 57 58
+f 39 58 40
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+f 40 64 59
+f 41 62 42
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+f 44 61 65
+f 44 65 45
+f 45 65 66
+f 45 66 67
+f 45 67 46
+f 46 67 47
+f 47 67 68
+f 47 68 69
+f 47 69 48
+f 48 69 50
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+f 51 70 71
+f 51 71 64
+f 51 64 52
+f 52 64 72
+f 52 72 53
+f 53 72 54
+f 54 72 55
+f 55 72 56
+f 56 72 73
+f 56 73 63
+f 56 63 58
+f 56 58 57
+f 59 74 75
+f 59 75 60
+f 59 64 71
+f 59 71 74
+f 60 65 61
+f 60 75 76
+f 60 76 65
+f 63 73 64
+f 64 73 72
+f 65 76 66
+f 66 76 67
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_27.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68715da6f3adc9c0f5cfb34b33a4e319e8093e05
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_27.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.14849089 -0.04102427 -0.04657013
+v -0.14678240 -0.04102425 -0.05177208
+v -0.15205357 -0.05743485 -0.04657019
+v -0.13542555 -0.04102427 -0.04657013
+v -0.14617317 -0.04102425 -0.05261759
+v -0.14894119 -0.05743482 -0.05308819
+v -0.15073577 -0.05743484 -0.05002609
+v -0.15081525 -0.06147618 -0.05006375
+v -0.15153705 -0.06209980 -0.04657021
+v -0.13532621 -0.05743485 -0.04657019
+v -0.09155431 -0.04102427 -0.04703053
+v -0.14582220 -0.05743481 -0.05642392
+v -0.14022655 -0.04102423 -0.05774281
+v -0.14533878 -0.06201500 -0.05603303
+v -0.14666320 -0.07195038 -0.04850740
+v -0.14531230 -0.07195037 -0.05083112
+v -0.14707377 -0.07195039 -0.04657024
+v -0.13546528 -0.07195039 -0.04657024
+v -0.09162053 -0.05743485 -0.04704797
+v -0.08440247 -0.05742877 -0.05198786
+v -0.08440247 -0.05366593 -0.05371218
+v -0.08967364 -0.04102425 -0.05145356
+v -0.14029939 -0.05710483 -0.05970753
+v -0.13803464 -0.05893933 -0.06105979
+v -0.13803464 -0.06080712 -0.06105979
+v -0.13869685 -0.04102423 -0.05774281
+v -0.12809491 -0.05806748 -0.06135948
+v -0.13433953 -0.05810381 -0.06127261
+v -0.13923323 -0.07195036 -0.05569862
+v -0.14206086 -0.07195036 -0.05359207
+v -0.09168674 -0.07195039 -0.04706973
+v -0.09164701 -0.06359222 -0.04705667
+v -0.08440247 -0.06196053 -0.05298686
+v -0.08440247 -0.05366895 -0.05665411
+v -0.09142186 -0.04102423 -0.05689440
+v -0.13433953 -0.06109167 -0.06127262
+v -0.13727972 -0.07195035 -0.05622852
+v -0.13447859 -0.04102423 -0.05771241
+v -0.08441571 -0.05854275 -0.06131171
+v -0.12809491 -0.06121579 -0.06135949
+v -0.08440247 -0.05854578 -0.06131171
+v -0.09115036 -0.07195038 -0.04898083
+v -0.08440247 -0.06258411 -0.05777039
+v -0.08440247 -0.05546711 -0.05971187
+v -0.13598842 -0.07195035 -0.05622852
+v -0.08440247 -0.06113103 -0.06131171
+v -0.09135564 -0.07195037 -0.05216309
+v -0.11685063 -0.07195035 -0.05604320
+f 1 2 3
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+f 1 18 10
+f 1 10 4
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+f 1 11 22
+f 1 22 35
+f 1 35 38
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+f 1 13 5
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+f 36 40 37
+f 37 40 45
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+f 42 47 43
+f 43 47 46
+f 45 46 48
+f 46 47 48
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_28.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49a86c7bb65601e04776441922e7558e2e2eafb2
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_28.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.13822515 -0.08977010 0.02973780
+v -0.13822515 -0.09201834 0.02973779
+v -0.13822515 -0.08977011 0.03196169
+v -0.12643809 -0.08480031 0.02795704
+v -0.12606964 -0.08467888 0.01571110
+v -0.12612300 -0.08472578 0.00959020
+v -0.12606102 -0.08479308 0.00346517
+v -0.12560993 -0.08495729 -0.00265573
+v -0.12778105 -0.08668731 -0.00750939
+v -0.13172728 -0.08996276 -0.00750940
+v -0.12809957 -0.09447670 0.02795700
+v -0.13822515 -0.09201835 0.03196168
+v -0.13172728 -0.09218040 -0.00750941
+v -0.13100588 -0.09260372 -0.00750941
+v -0.12809957 -0.09426746 -0.00750942
+v -0.12937367 -0.08772488 0.03479852
+v -0.12635545 -0.08477280 0.03479853
+v -0.12600937 -0.08464626 0.02183200
+v -0.12410512 -0.08467888 0.01571110
+v -0.12424975 -0.08472578 0.00959020
+v -0.12440643 -0.08479308 0.00346517
+v -0.12468535 -0.08495729 -0.00265573
+v -0.12516055 -0.08509805 -0.00629597
+v -0.12648457 -0.08591410 -0.00750939
+v -0.12185825 -0.09506630 0.02795700
+v -0.12185825 -0.09486027 0.03408204
+v -0.12835955 -0.09368413 0.03430568
+v -0.13433917 -0.09273954 0.03277338
+v -0.12824937 -0.09364028 0.03479850
+v -0.12702349 -0.09414708 -0.00750942
+v -0.12359377 -0.08477280 0.03479853
+v -0.12395361 -0.08464626 0.02183200
+v -0.12083898 -0.08604177 0.03479852
+v -0.12063753 -0.08615805 0.03436368
+v -0.12063753 -0.08632533 0.02887226
+v -0.12066163 -0.08634062 0.02795703
+v -0.12063753 -0.08636102 0.02794046
+v -0.12491090 -0.08509805 -0.00629597
+v -0.12414644 -0.08652614 -0.00750939
+v -0.12063753 -0.09488167 0.02795700
+v -0.12063753 -0.09457160 0.03409860
+v -0.12185825 -0.09470931 0.03479849
+v -0.12313751 -0.09338203 -0.00750941
+v -0.12095433 -0.08598770 0.03479852
+v -0.12063753 -0.08620396 0.03479852
+v -0.12063753 -0.08842970 0.02176987
+v -0.12262959 -0.08821846 -0.00265574
+v -0.12335789 -0.08780021 -0.00750939
+v -0.12063753 -0.09337501 0.02265610
+v -0.12063753 -0.09430944 0.03479849
+v -0.12307552 -0.09232014 -0.00750941
+v -0.12063753 -0.09302920 0.02208045
+f 1 2 12
+f 1 12 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 13
+f 1 13 2
+f 2 11 12
+f 2 13 14
+f 2 14 15
+f 2 15 11
+f 3 12 16
+f 3 16 17
+f 3 17 4
+f 4 18 5
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+f 5 19 20
+f 5 20 6
+f 5 18 32
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+f 6 20 21
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+f 8 23 24
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+f 40 43 49
+f 41 50 42
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+f 46 52 47
+f 47 52 51
+f 47 51 48
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_29.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49266a640318403594814c3ee06adb2341ff6a4f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_29.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.06597617 -0.00115092 -0.05216712
+v 0.06751161 -0.00115094 -0.04754074
+v 0.07162063 -0.00115091 -0.05557756
+v 0.05906980 -0.00471109 -0.05608755
+v 0.05906980 -0.00469390 -0.05603854
+v 0.05906980 -0.00469391 -0.05418247
+v 0.06733756 -0.00818753 -0.04758212
+v 0.06809595 -0.00115094 -0.04736616
+v 0.05906980 -0.00818751 -0.05249028
+v 0.07162063 -0.00261838 -0.05716258
+v 0.05906980 -0.00674149 -0.05911361
+v 0.12256988 -0.00115092 -0.05283328
+v 0.06757378 -0.02310082 -0.04758982
+v 0.07162063 -0.00115094 -0.04634011
+v 0.05906980 -0.01283919 -0.05301098
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+v 0.11834898 -0.02310079 -0.05362357
+v 0.09034429 -0.02310079 -0.05391453
+f 1 2 8
+f 1 8 14
+f 1 14 29
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+f 1 19 12
+f 1 12 3
+f 1 3 4
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+f 1 6 2
+f 2 7 8
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+f 16 34 35
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+f 17 36 18
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+f 20 38 46
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+f 24 44 45
+f 24 45 25
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+f 39 49 48
+f 39 48 51
+f 39 51 52
+f 39 52 40
+f 46 50 47
+f 47 50 48
+f 48 50 51
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_3.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b72f54b28f5f9b8a1cda0e42d4b660b182eac8f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_3.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v 0.00269871 -0.04562572 -0.05240829
+v 0.00269871 -0.05591895 -0.06008417
+v 0.00269871 -0.04562573 -0.04879030
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+v 0.00296861 -0.05592465 -0.06008798
+v 0.00269871 -0.05899666 -0.06126669
+v 0.00269871 -0.04632107 -0.04775822
+v 0.02215504 -0.04562574 -0.04706890
+v 0.09002923 -0.04562571 -0.05381549
+v 0.07161730 -0.05645470 -0.05989756
+v 0.04665734 -0.05612983 -0.06000420
+v 0.05914318 -0.05920184 -0.06131049
+v 0.00269871 -0.06109406 -0.06126669
+v 0.05290026 -0.05919614 -0.06130859
+v 0.10468603 -0.09294274 -0.06138487
+v 0.00269871 -0.05206615 -0.04726125
+v 0.01547792 -0.08863402 -0.04193342
+v 0.07161730 -0.04562574 -0.04620820
+v 0.12255815 -0.04562571 -0.05314712
+v 0.06537438 -0.05924743 -0.06129144
+v 0.11530604 -0.05233969 -0.05638428
+v 0.10906311 -0.05744071 -0.05884453
+v 0.10707992 -0.09294274 -0.06138487
+v 0.01545445 -0.08713499 -0.06106304
+v 0.00921153 -0.08572721 -0.06099639
+v 0.00502220 -0.08520286 -0.06086499
+v 0.00269871 -0.08259250 -0.05974912
+v 0.08409141 -0.09933187 -0.05713661
+v 0.08444346 -0.09461839 -0.06022332
+v 0.06156056 -0.09254378 -0.06106877
+v 0.04235066 -0.09187125 -0.06104593
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+v 0.01478557 -0.09072003 -0.04193342
+v 0.02172085 -0.08865112 -0.04193342
+v 0.12255815 -0.04562574 -0.04583498
+v 0.12247600 -0.04562574 -0.04583498
+v 0.09033433 -0.04562574 -0.04589020
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+v 0.10749065 -0.08821218 -0.06125727
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+v 0.10761973 -0.09873913 -0.05652156
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+v 0.01545445 -0.09021270 -0.05997575
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+v 0.08092301 -0.10364071 -0.04878289
+v 0.06041055 -0.09888162 -0.05647967
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+v 0.10862892 -0.09429930 -0.04193344
+v 0.12255815 -0.05027651 -0.04578738
+v 0.12255815 -0.05744072 -0.05796098
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+v 0.10854678 -0.09986194 -0.05164871
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+v 0.01545445 -0.09292566 -0.05691380
+v 0.04041442 -0.09821478 -0.05587032
+v 0.00269871 -0.09034952 -0.05155537
+v 0.01786009 -0.09783294 -0.04999395
+v 0.08172098 -0.10377751 -0.04552480
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+v 0.08073526 -0.10377751 -0.04552480
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+v 0.12255815 -0.08689565 -0.04718902
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+f 40 41 43
+f 40 59 41
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+f 51 70 63
+f 51 63 52
+f 52 63 53
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+f 54 72 55
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+f 61 77 73
+f 62 63 65
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+f 65 79 78
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+f 66 67 80
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+f 69 82 83
+f 69 83 79
+f 69 81 82
+f 71 78 83
+f 73 77 84
+f 73 84 74
+f 78 79 83
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_30.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71d77dd7a7ce076b4eb9b76d7d09c9f3892b3d4b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_30.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.16484932 0.00034961 0.01771486
+v -0.16367329 0.00034962 0.01634130
+v -0.14923243 0.01239026 0.00756624
+v -0.16241950 0.02565661 0.03102877
+v -0.16484932 0.02429594 0.03267480
+v -0.16484932 0.00034966 0.00653229
+v -0.16220683 0.00034963 0.01328065
+v -0.14879598 0.01184786 0.00346795
+v -0.14923243 0.01526481 0.00756625
+v -0.16164976 0.03165699 0.03241356
+v -0.16484932 0.03165697 0.03704932
+v -0.16484932 0.00115870 0.00658081
+v -0.15773284 0.01643550 -0.00108195
+v -0.15766142 0.01523113 -0.00108195
+v -0.15743288 0.01185706 -0.00108197
+v -0.15306523 0.01028495 -0.00108197
+v -0.14869282 0.01178964 -0.00108197
+v -0.16328446 0.00034965 0.00833509
+v -0.16220683 0.00034964 0.01139574
+v -0.14863568 0.01657340 -0.00108195
+v -0.14899119 0.01696259 0.00338959
+v -0.16076099 0.03165701 0.02827048
+v -0.16484932 0.03165702 0.02321668
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+v -0.16484932 0.02329696 0.01706176
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+v -0.14988789 0.01956134 0.00129193
+v -0.14983393 0.01960424 -0.00108194
+v -0.15300492 0.01984327 -0.00108194
+v -0.15393971 0.01984634 -0.00108194
+v -0.15648539 0.01975747 -0.00108194
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+f 22 30 23
+f 23 30 31
+f 23 31 32
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+f 23 33 25
+f 23 25 27
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+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_31.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7425ea34b74a50168a6825fe4ac6150c27df7453
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_31.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v -0.15757242 -0.03251250 0.02881469
+v -0.16849876 -0.03511198 0.04953306
+v -0.16216697 -0.03520096 0.03763209
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+v -0.17026683 -0.01677805 0.02881475
+v -0.18654680 0.00034952 0.04489904
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+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_32.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4813d4b9af66c337cb5da6c6438e30d20a8faca
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_32.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.14651686 0.10252390 0.03438054
+v 0.15112643 0.10093417 0.03438053
+v 0.15073531 0.10029039 0.02795993
+v 0.15022780 0.09983230 0.02456114
+v 0.14651686 0.10086982 0.02795993
+v 0.12710075 0.09918848 0.02822500
+v 0.12710075 0.09954009 0.03031906
+v 0.12710075 0.09809396 0.03438052
+v 0.15263967 0.09625910 0.03438051
+v 0.16956008 0.08415542 0.03167234
+v 0.16872664 0.08760229 0.03132039
+v 0.16512745 0.09179700 0.02841347
+v 0.16297165 0.09378044 0.02667579
+v 0.16297165 0.09378045 0.02386751
+v 0.12710075 0.09580353 0.01936427
+v 0.14651686 0.09980506 0.02458912
+v 0.16511347 0.09164599 0.01933775
+v 0.14295025 0.09960202 0.02482327
+v 0.12710075 0.09886657 0.02736646
+v 0.12710075 0.09739815 0.03438052
+v 0.15263967 0.09603128 0.03438051
+v 0.17053787 0.07722699 0.03162665
+v 0.16523454 0.08415542 0.03243515
+v 0.17095693 0.07722699 0.03145288
+v 0.17376458 0.07722700 0.02888759
+v 0.17369474 0.07852207 0.02832948
+v 0.17183229 0.08415544 0.02795987
+v 0.16937850 0.08843432 0.02795988
+v 0.16945300 0.08867453 0.02183676
+v 0.12710075 0.09079417 0.01936425
+v 0.15850175 0.09062827 0.01933774
+v 0.15778936 0.08724329 0.01933773
+v 0.15718872 0.08380632 0.01933772
+v 0.16925744 0.08850863 0.01933774
+v 0.12710075 0.09141070 0.03315676
+v 0.12711006 0.09564005 0.03438051
+v 0.14738755 0.09080402 0.03438049
+v 0.16996516 0.07722699 0.03164580
+v 0.14711750 0.09055640 0.03438049
+v 0.17465856 0.07722701 0.02696877
+v 0.17465856 0.07722702 0.02533417
+v 0.12710075 0.09013054 0.02093994
+v 0.16056908 0.07832896 0.01933770
+v 0.17426744 0.07722702 0.02388218
+v 0.17037026 0.08415547 0.01933772
+v 0.14079911 0.09158897 0.03438050
+v 0.12710075 0.08849127 0.02795989
+v 0.16568618 0.07722699 0.03172826
+v 0.14694987 0.09054897 0.03438049
+v 0.12710075 0.08848632 0.02727660
+v 0.16076929 0.07722703 0.02248908
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+v 0.16123025 0.07722703 0.02200017
+v 0.17237239 0.07722703 0.02240220
+v 0.17045872 0.07869048 0.01933770
+v 0.16054580 0.07722701 0.02732220
+v 0.16168656 0.07722701 0.02834125
+v 0.16822843 0.07812343 0.01933770
+v 0.17145514 0.07722703 0.02170271
+v 0.16549527 0.07722703 0.02070869
+v 0.16521125 0.07722703 0.02068513
+f 1 2 3
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+f 1 7 8
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+f 1 20 36
+f 1 36 46
+f 1 46 49
+f 1 49 39
+f 1 39 37
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+f 1 9 2
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+f 6 19 15
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+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_33.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1156dbc213e671cf8b5e78dd12dd7e3bb948386
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_33.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.18909560 -0.04512497 0.04020797
+v -0.18947551 -0.05128320 0.04020795
+v -0.18866261 -0.04512499 0.04545604
+v -0.18782177 -0.04512495 0.03664360
+v -0.18801174 -0.05128318 0.03643868
+v -0.18958446 -0.05743881 0.04020793
+v -0.18885257 -0.05128322 0.04560692
+v -0.18532443 -0.04512500 0.04851689
+v -0.18426849 -0.04512495 0.03491701
+v -0.18807319 -0.05743879 0.03637036
+v -0.18426849 -0.05128318 0.03470097
+v -0.18897268 -0.06359179 0.04020791
+v -0.18859837 -0.06359181 0.04525425
+v -0.18890005 -0.05743883 0.04562437
+v -0.18776312 -0.06359177 0.03671978
+v -0.18505625 -0.05743884 0.04868522
+v -0.18228234 -0.06359182 0.04976372
+v -0.18220413 -0.04512500 0.04966053
+v -0.17740495 -0.04512495 0.03519339
+v -0.18426849 -0.05743879 0.03463582
+v -0.18426849 -0.06359177 0.03495984
+v -0.17802789 -0.06974738 0.03452776
+v -0.18801174 -0.06825577 0.04435361
+v -0.18745025 -0.06679826 0.03707557
+v -0.18790280 -0.06795639 0.04020789
+v -0.18540264 -0.06359182 0.04831510
+v -0.18305055 -0.07195074 0.04828013
+v -0.18164823 -0.07195074 0.04964456
+v -0.18201976 -0.06974743 0.04978911
+v -0.17802789 -0.06974743 0.05035775
+v -0.18048894 -0.04512500 0.04966053
+v -0.17218955 -0.07195075 0.05075485
+v -0.17589928 -0.04512495 0.03583193
+v -0.16788483 -0.07195069 0.03674199
+v -0.16975645 -0.07195069 0.03613046
+v -0.17579592 -0.07195069 0.03481050
+v -0.18420424 -0.06920903 0.03597957
+v -0.17800834 -0.07195069 0.03498363
+v -0.18636360 -0.07103419 0.04020788
+v -0.18571830 -0.07195071 0.04027618
+v -0.18558421 -0.07195071 0.04137853
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+v -0.17346059 -0.04512498 0.04470949
+v -0.17237113 -0.04512497 0.03968380
+v -0.16130623 -0.07195072 0.04245388
+f 1 2 3
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+f 1 46 54
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+f 53 56 55
+f 53 55 54
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_34.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..505d9e0c63e6f109cfe8b5833f6abd37785e2f78
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_34.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.18899893 -0.07607076 0.04633059
+v 0.18898313 -0.07607076 0.04623236
+v 0.18810400 -0.07607078 0.05076235
+v 0.18762230 -0.08206495 0.05012315
+v 0.18722748 -0.08548663 0.04961004
+v 0.18814346 -0.08206494 0.04633057
+v 0.18719324 -0.08543996 0.04313171
+v 0.18760123 -0.08206493 0.04268019
+v 0.18797501 -0.07607075 0.04226532
+v 0.18800396 -0.07607078 0.05083859
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+v 0.18727484 -0.08562349 0.04633056
+v 0.18410041 -0.08781028 0.05141762
+v 0.18211049 -0.09315122 0.05068753
+v 0.18271062 -0.09416217 0.04633052
+v 0.18582977 -0.08870302 0.04633054
+v 0.18206310 -0.09326318 0.04222128
+v 0.18406883 -0.08778225 0.04168034
+v 0.18396091 -0.08206492 0.04041959
+v 0.18396091 -0.07607074 0.03997541
+v 0.18396091 -0.07607079 0.05372224
+v 0.17771998 -0.08822090 0.05428662
+v 0.17824116 -0.09487141 0.05217259
+v 0.17650918 -0.09926050 0.05088835
+v 0.18066804 -0.09723857 0.04633051
+v 0.17662235 -0.09946576 0.04195297
+v 0.17830959 -0.09493669 0.04103087
+v 0.17771998 -0.08822085 0.03950477
+v 0.17771998 -0.07607074 0.03977163
+v 0.17771998 -0.08206492 0.03956637
+v 0.18379245 -0.07607079 0.05375449
+v 0.17771998 -0.08206497 0.05418108
+v 0.16210844 -0.10052965 0.05402122
+v 0.16524074 -0.10052965 0.05392300
+v 0.17186071 -0.10099934 0.05197906
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+v 0.17754889 -0.10031810 0.04633050
+v 0.17036826 -0.10437745 0.04242795
+v 0.17206076 -0.10112061 0.04111294
+v 0.16524074 -0.10052960 0.03952085
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+v 0.16210844 -0.09472517 0.04130061
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+v 0.16210844 -0.09281526 0.04763088
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+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_35.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..faed70da464e29e4067754a8d9c50b7cb697df7d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_35.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.15963773 0.04098431 -0.03374048
+v 0.15925115 0.04097817 -0.03374048
+v 0.16523773 0.04173976 -0.01490717
+v 0.16523773 0.04125149 -0.02715103
+v 0.16556664 0.04058812 -0.03374048
+v 0.15984596 0.04068631 -0.00878230
+v 0.16523773 0.04203763 -0.00370716
+v 0.16523773 0.04195473 -0.00878230
+v 0.15819287 0.01589244 -0.03374057
+v 0.16910134 0.03938717 -0.00370717
+v 0.16902019 0.03925205 -0.00878231
+v 0.16886961 0.03900945 -0.01490718
+v 0.16871798 0.03873614 -0.02102911
+v 0.16856633 0.03843518 -0.02715104
+v 0.16844673 0.03817720 -0.03084125
+v 0.16561790 0.03990017 -0.03374048
+v 0.16006061 0.04063101 -0.00370716
+v 0.15938356 0.01643901 -0.00370725
+v 0.15856557 0.01148524 -0.03374059
+v 0.16910134 0.03670599 -0.00370718
+v 0.16902019 0.03680736 -0.00878231
+v 0.16886961 0.03704694 -0.01490718
+v 0.16856633 0.03758445 -0.02715104
+v 0.16844673 0.03781173 -0.03084125
+v 0.16561790 0.03572024 -0.03374050
+v 0.15995276 0.01126401 -0.00370727
+v 0.16445924 0.01102456 -0.03374059
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+v 0.16523773 0.01066512 -0.00370727
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+v 0.15973063 0.01109206 -0.01490728
+v 0.16817122 0.01238500 -0.00370726
+v 0.16583468 0.01142994 -0.02714525
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+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_36.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a5a7a71030ab84b0783b05a8065ac8afc2f07ab
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_36.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.01575735 -0.10778223 0.04632690
+v -0.01192284 -0.10767851 0.04632690
+v -0.01575735 -0.10534967 0.05083936
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+v -0.02199687 -0.10623421 0.04020585
+v -0.01192284 -0.10523421 0.05079062
+v -0.01192284 -0.10588782 0.04022326
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+v -0.02796225 -0.10520875 0.04622942
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+v -0.02569787 -0.10407565 0.04981920
+v -0.03010915 -0.10513240 0.03918567
+v -0.01192284 -0.09989536 0.02242762
+v -0.01192284 -0.10052954 0.05220079
+v -0.02199687 -0.10052954 0.05163673
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+v -0.02199687 -0.09240008 0.04825590
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+v -0.01192284 -0.09437459 0.01965610
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+v -0.03010915 -0.08937644 0.04020591
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+v -0.02199687 -0.08922184 0.04020591
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+v -0.01192284 -0.08779121 0.02796031
+v -0.03010915 -0.08881082 0.02796030
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+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_37.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a26daead1d901a4c81916647bbdccd5ac62a2562
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_37.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.05437374 0.00979037 -0.05748372
+v 0.05437374 0.01265861 -0.06124687
+v 0.05437374 0.01023338 -0.05175612
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+v 0.04179257 0.03237517 -0.05018305
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+v 0.03412016 0.01783716 -0.05730510
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+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_38.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5c0fc2f217459f1dfaa4a6019c17d7cfa617c67
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_38.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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+v -0.16484933 0.02430151 0.03267857
+v -0.17235072 0.00034951 0.04632972
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+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_39.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bc29d447676b7873a1b8c72318708ba975e6c82
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_39.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.13831458 0.05363062 -0.04227815
+v -0.14139935 0.05363062 -0.04314820
+v -0.13725597 0.05363062 -0.04231216
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+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_4.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04048ff21128dec782f1c4768859d3952ae3e032
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_4.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
+v 0.11530604 -0.10052883 0.05396666
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+v 0.12255815 -0.10656397 0.05214407
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+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_40.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c8ed65a8197d1cbf80ea89213bbd2c015106656
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_40.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.15960677 0.06568625 -0.03374039
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+f 21 36 37
+f 21 37 32
+f 21 32 22
+f 23 38 24
+f 24 38 36
+f 26 39 40
+f 26 40 27
+f 27 40 28
+f 28 40 34
+f 28 34 31
+f 28 31 33
+f 28 33 41
+f 28 41 29
+f 29 41 42
+f 29 42 37
+f 29 37 36
+f 32 43 41
+f 32 41 33
+f 32 37 42
+f 32 42 43
+f 34 40 45
+f 34 45 44
+f 34 44 35
+f 39 45 40
+f 41 43 42
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_41.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6baaab8002d8b5b87e5053c2f0dd29c6a9efd8d9
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_41.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.15737239 -0.01270602 -0.00266211
+v -0.15306215 -0.01425302 -0.00266211
+v -0.15703748 -0.01233070 0.00346163
+v -0.15703748 -0.00939223 0.00346165
+v -0.15717101 -0.00766430 -0.00277754
+v -0.15724762 -0.00818840 -0.00878583
+v -0.15701995 -0.00818838 -0.01490957
+v -0.15647050 -0.01162387 -0.02714657
+v -0.14608344 -0.01692419 -0.04656730
+v -0.14609876 -0.01692419 -0.04590612
+v -0.15306215 -0.01362072 0.00346163
+v -0.14026054 -0.01692420 -0.04391210
+v -0.13552781 -0.01692419 -0.04607929
+v -0.15643548 -0.01160032 0.00672553
+v -0.15643548 -0.01066874 0.00672553
+v -0.15306215 -0.00705397 0.00346165
+v -0.15624285 -0.00505890 -0.00489224
+v -0.15632821 -0.00497266 -0.00878582
+v -0.15633697 -0.00495912 -0.01490956
+v -0.15625378 -0.00504025 -0.01913374
+v -0.15661061 -0.00776906 -0.02111203
+v -0.15647050 -0.00936169 -0.02714656
+v -0.15631070 -0.01045050 -0.03098243
+v -0.15631070 -0.01142436 -0.03098243
+v -0.15139847 -0.01251988 -0.04552305
+v -0.15120144 -0.01237617 -0.04656729
+v -0.13525636 -0.01692419 -0.04656730
+v -0.14883946 -0.01255387 0.00346163
+v -0.14939548 -0.01192326 0.00700365
+v -0.15306215 -0.01200948 0.00704038
+v -0.15306215 -0.00989102 0.00704038
+v -0.14939548 -0.01002965 0.00700365
+v -0.14978294 -0.00498620 -0.00451442
+v -0.15306215 -0.00534803 -0.00113508
+v -0.15306215 -0.00497775 -0.00419433
+v -0.14479408 0.00034816 -0.04518192
+v -0.14617100 0.00034816 -0.04589032
+v -0.14617100 0.00034816 -0.04656724
+v -0.15603269 -0.00543755 -0.02320574
+v -0.15572185 -0.00628628 -0.02714655
+v -0.15523150 -0.00831512 -0.03312337
+v -0.15518991 -0.00831005 -0.03331753
+v -0.15386115 -0.00818829 -0.03939929
+v -0.15236821 -0.00818826 -0.04552303
+v -0.15198512 -0.00818826 -0.04656727
+v -0.13501119 -0.00818826 -0.04656727
+v -0.14883946 -0.00892391 0.00346165
+v -0.13518630 -0.00256494 -0.04656725
+v -0.13530014 0.00034816 -0.04656724
+v -0.13547964 0.00034816 -0.04626289
+v -0.13853338 0.00034815 -0.04459945
+v -0.14042911 0.00034815 -0.04395927
+v -0.15075269 -0.00446024 -0.04656726
+v -0.15091030 -0.00437232 -0.04552302
+v -0.15179687 -0.00719920 -0.04656727
+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 2
+f 2 11 3
+f 2 10 12
+f 2 12 13
+f 2 13 11
+f 3 11 14
+f 3 14 15
+f 3 15 4
+f 4 15 16
+f 4 16 17
+f 4 17 5
+f 5 17 18
+f 5 18 19
+f 5 19 6
+f 6 19 20
+f 6 20 7
+f 7 20 21
+f 7 21 22
+f 7 22 23
+f 7 23 24
+f 7 24 8
+f 8 24 9
+f 9 25 26
+f 9 26 45
+f 9 45 55
+f 9 55 53
+f 9 53 38
+f 9 38 49
+f 9 49 48
+f 9 48 46
+f 9 46 27
+f 9 27 13
+f 9 13 12
+f 9 12 10
+f 9 24 25
+f 11 28 29
+f 11 29 30
+f 11 30 14
+f 11 13 28
+f 13 27 28
+f 14 30 31
+f 14 31 15
+f 15 31 16
+f 16 31 32
+f 16 32 33
+f 16 33 34
+f 16 34 17
+f 17 34 35
+f 17 35 36
+f 17 36 37
+f 17 37 18
+f 18 37 19
+f 19 37 38
+f 19 38 20
+f 20 39 22
+f 20 22 21
+f 20 38 39
+f 22 39 23
+f 23 39 40
+f 23 40 41
+f 23 41 42
+f 23 42 43
+f 23 43 44
+f 23 44 24
+f 24 44 26
+f 24 26 25
+f 26 44 45
+f 27 46 29
+f 27 29 28
+f 29 32 31
+f 29 31 30
+f 29 46 32
+f 32 47 33
+f 32 46 48
+f 32 48 49
+f 32 49 47
+f 33 47 49
+f 33 49 50
+f 33 50 51
+f 33 51 52
+f 33 52 34
+f 34 52 36
+f 34 36 35
+f 36 52 51
+f 36 51 50
+f 36 50 49
+f 36 49 38
+f 36 38 37
+f 38 53 54
+f 38 54 39
+f 39 54 53
+f 39 53 40
+f 40 53 43
+f 40 43 42
+f 40 42 41
+f 43 53 55
+f 43 55 44
+f 44 55 45
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_42.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27854d71ba0b119a0f8b290e144c2d0f354239ee
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_42.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.15306458 -0.05328681 0.00707593
+v -0.15159886 -0.05349504 0.00707593
+v -0.15549559 -0.05350038 0.00707593
+v -0.15779592 -0.04467710 0.01589555
+v -0.15455556 -0.04467710 0.01589555
+v -0.14951386 -0.05398626 0.00707593
+v -0.15704300 -0.05366056 0.00707593
+v -0.15781225 -0.04467710 0.01592548
+v -0.16307968 -0.05312399 0.01788692
+v -0.15453775 -0.04467710 0.01592391
+v -0.14946188 -0.05377272 0.01571118
+v -0.14895846 -0.05540921 0.00707593
+v -0.15809144 -0.05596717 0.00707592
+v -0.15947847 -0.04467712 0.02234717
+v -0.15874041 -0.05743817 0.00707592
+v -0.16307968 -0.05640237 0.01788691
+v -0.16307968 -0.05312399 0.01988937
+v -0.15490900 -0.04467712 0.02193912
+v -0.14956881 -0.05381277 0.01943720
+v -0.14834811 -0.05743820 0.01571117
+v -0.14823228 -0.05743817 0.00707592
+v -0.16307968 -0.05640237 0.01988936
+v -0.15992546 -0.05804691 0.02174056
+v -0.15306458 -0.05743823 0.02316952
+v -0.15788206 -0.06231568 0.00707590
+v -0.15868100 -0.06249726 0.01571115
+v -0.14913666 -0.05743821 0.02029583
+v -0.14791001 -0.07195062 0.01570797
+v -0.14791299 -0.07195062 0.01564967
+v -0.14866294 -0.06208609 0.00707590
+v -0.15083703 -0.07195062 0.01573002
+v -0.15825925 -0.06187524 0.02061249
+v -0.15306458 -0.06216890 0.02117809
+v -0.14792487 -0.07195062 0.01573002
+v -0.14924209 -0.06136265 0.02013984
+v -0.15306458 -0.06388813 0.00707590
+v -0.15083406 -0.07195062 0.01564967
+v -0.15083851 -0.07195062 0.01571112
+f 1 2 6
+f 1 6 12
+f 1 12 21
+f 1 21 30
+f 1 30 36
+f 1 36 25
+f 1 25 15
+f 1 15 13
+f 1 13 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 8 14
+f 4 14 18
+f 4 18 10
+f 4 10 5
+f 4 7 9
+f 4 9 8
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+f 6 11 12
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+f 9 16 22
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+f 9 17 14
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+f 10 19 11
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+f 11 20 21
+f 11 21 12
+f 14 17 22
+f 14 22 23
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+f 16 26 22
+f 18 24 27
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+f 19 27 20
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+f 20 28 21
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+f 21 29 30
+f 22 26 31
+f 22 31 32
+f 22 32 23
+f 23 32 24
+f 24 32 33
+f 24 33 34
+f 24 34 35
+f 24 35 27
+f 25 36 37
+f 25 37 26
+f 26 37 38
+f 26 38 31
+f 27 35 28
+f 28 34 31
+f 28 31 38
+f 28 38 37
+f 28 37 29
+f 28 35 34
+f 29 37 36
+f 29 36 30
+f 31 34 33
+f 31 33 32
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_43.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d24e0b0fdd0bc90752bafc718ce8b67774ab3104
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_43.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.12256988 -0.09446265 0.01747241
+v 0.12256988 -0.10029310 0.01779865
+v 0.12256988 -0.09012981 0.02343524
+v 0.12411247 -0.09663176 -0.03340232
+v 0.12411247 -0.09920066 -0.03340233
+v 0.12256988 -0.10385342 0.02367814
+v 0.12256988 -0.09027444 0.02843316
+v 0.15230393 -0.08608232 0.00958682
+v 0.12779139 -0.08918973 0.00958681
+v 0.12410083 -0.09054458 0.00958681
+v 0.12437151 -0.09089089 0.00606050
+v 0.12418814 -0.09659180 -0.03340232
+v 0.12644672 -0.10227952 -0.03340235
+v 0.12811737 -0.10545760 0.03751267
+v 0.12256988 -0.10384201 0.02596192
+v 0.12956682 -0.10392933 -0.03340235
+v 0.12256988 -0.09075588 0.02966182
+v 0.15230393 -0.08693678 0.02808610
+v 0.15230393 -0.08619458 0.00892738
+v 0.12779139 -0.09473268 -0.03340232
+v 0.14649741 -0.10552039 0.03751267
+v 0.12691531 -0.10504468 0.03751267
+v 0.14651487 -0.10505206 -0.02102555
+v 0.14651487 -0.10513773 -0.01490309
+v 0.14651487 -0.10522147 -0.00878063
+v 0.12256988 -0.10153385 0.03751269
+v 0.14651487 -0.10440314 -0.03340235
+v 0.14651487 -0.10442027 -0.03327046
+v 0.14651487 -0.10489030 -0.02714801
+v 0.12256988 -0.09489088 0.03751271
+v 0.12779139 -0.09351128 0.03751272
+v 0.15230393 -0.08705475 0.02834293
+v 0.15230393 -0.08833912 0.00531082
+v 0.15160249 -0.10052886 -0.03327045
+v 0.15083993 -0.09625308 -0.03340232
+v 0.14651487 -0.09546339 -0.03340232
+v 0.15212348 -0.10541383 0.03751267
+v 0.15072642 -0.10458965 -0.02714800
+v 0.15085158 -0.10470194 -0.02102554
+v 0.15040626 -0.10426423 -0.03340235
+v 0.15041499 -0.10427565 -0.03327046
+v 0.14651487 -0.09396417 0.03751271
+v 0.15230393 -0.08987865 0.03206360
+v 0.15230393 -0.10046047 -0.00156832
+v 0.15173928 -0.10052888 -0.02714799
+v 0.15159376 -0.10054028 -0.03340234
+v 0.15230393 -0.10243949 0.00066685
+v 0.15230393 -0.10502374 0.03751267
+v 0.15230393 -0.10309790 0.00627564
+v 0.15230393 -0.09483760 0.03751271
+v 0.15230393 -0.09006323 0.03227879
+f 1 2 6
+f 1 6 15
+f 1 15 26
+f 1 26 30
+f 1 30 17
+f 1 17 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 20
+f 4 20 36
+f 4 36 35
+f 4 35 46
+f 4 46 40
+f 4 40 27
+f 4 27 16
+f 4 16 13
+f 4 13 5
+f 5 13 6
+f 6 14 15
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+f 7 17 18
+f 7 18 8
+f 8 19 20
+f 8 20 9
+f 8 18 32
+f 8 32 43
+f 8 43 51
+f 8 51 50
+f 8 50 48
+f 8 48 49
+f 8 49 47
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+f 8 44 33
+f 8 33 19
+f 9 20 11
+f 9 11 10
+f 11 20 12
+f 14 21 37
+f 14 37 48
+f 14 48 50
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+f 14 31 30
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+f 14 26 22
+f 14 22 15
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+f 14 23 24
+f 14 24 25
+f 14 25 21
+f 15 22 26
+f 16 27 28
+f 16 28 29
+f 16 29 23
+f 17 30 31
+f 17 31 18
+f 18 31 32
+f 19 33 34
+f 19 34 35
+f 19 35 36
+f 19 36 20
+f 21 25 37
+f 23 29 38
+f 23 38 39
+f 23 39 24
+f 24 39 37
+f 24 37 25
+f 27 40 28
+f 28 41 29
+f 28 40 41
+f 29 41 38
+f 31 42 43
+f 31 43 32
+f 33 44 45
+f 33 45 34
+f 34 38 46
+f 34 46 35
+f 34 45 47
+f 34 47 38
+f 37 39 48
+f 38 41 46
+f 38 47 49
+f 38 49 39
+f 39 49 48
+f 40 46 41
+f 42 50 51
+f 42 51 43
+f 44 47 45
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_44.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fafbaa7d60b2e518f6f75637f4484002638bd81a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_44.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.12779126 0.11196837 0.04870710
+v 0.12779126 0.11196837 0.04959357
+v 0.13403424 0.11195160 0.04876537
+v 0.13403424 0.11138337 0.04570225
+v 0.12779126 0.11135610 0.04564607
+v 0.12709610 0.11196627 0.04872999
+v 0.12779126 0.10900344 0.05265460
+v 0.13403424 0.11195160 0.04956444
+v 0.12709610 0.11196627 0.04958525
+v 0.13767845 0.11189707 0.04908166
+v 0.13996710 0.11133095 0.04675728
+v 0.14651489 0.11076061 0.04633069
+v 0.15275521 0.10769924 0.04140514
+v 0.14651489 0.10799699 0.04123659
+v 0.14027457 0.10821506 0.04121994
+v 0.13403424 0.10830523 0.04129069
+v 0.12779126 0.10827796 0.04127404
+v 0.12709610 0.10827168 0.04126988
+v 0.12709610 0.11134981 0.04566896
+v 0.12709610 0.11141901 0.04601023
+v 0.12779126 0.10592527 0.05563863
+v 0.13403424 0.10892794 0.05262546
+v 0.12709610 0.10899924 0.05264835
+v 0.12709610 0.10865745 0.05298546
+v 0.12709610 0.10592108 0.05563863
+v 0.13767845 0.11189707 0.04946663
+v 0.15275521 0.11015252 0.04633068
+v 0.15441022 0.10756504 0.04149878
+v 0.14651489 0.10252217 0.03438202
+v 0.12709610 0.10180504 0.03681876
+v 0.12779126 0.10502363 0.05563863
+v 0.13403424 0.10584979 0.05559701
+v 0.13766776 0.10574284 0.05553666
+v 0.13975320 0.10873714 0.05245691
+v 0.12709610 0.10503412 0.05563863
+v 0.14651489 0.10846454 0.05227171
+v 0.15275521 0.10815421 0.05208859
+v 0.15441022 0.10799276 0.05198038
+v 0.15441022 0.10985477 0.04633068
+v 0.15441022 0.10936621 0.04511750
+v 0.15441022 0.10260604 0.03895588
+v 0.15112963 0.10093486 0.03438201
+v 0.12709610 0.09809575 0.03438200
+v 0.13403424 0.10522492 0.05559701
+v 0.15441022 0.10095367 0.05524740
+v 0.13766776 0.10554783 0.05553666
+v 0.15441022 0.10098303 0.05524740
+v 0.15441022 0.10219919 0.05498104
+v 0.12709610 0.10195596 0.05491445
+v 0.15441022 0.10079437 0.03938454
+v 0.15264025 0.09603246 0.03438199
+v 0.15264025 0.09626312 0.03438199
+v 0.12709610 0.09740170 0.03438200
+v 0.15441022 0.09844375 0.05402588
+v 0.12709610 0.10146110 0.05457317
+v 0.15441022 0.09658811 0.04046243
+v 0.15441022 0.09555856 0.04273272
+v 0.15441022 0.09446400 0.04633063
+v 0.14738116 0.09080505 0.03438197
+v 0.12711214 0.09564035 0.03438199
+v 0.12709610 0.09562987 0.03438407
+v 0.15441022 0.09724437 0.05282103
+v 0.12709610 0.09757358 0.05185340
+v 0.14694803 0.09054924 0.03438197
+v 0.14711379 0.09055972 0.03438197
+v 0.15441022 0.09514335 0.04809109
+v 0.12709610 0.09730938 0.05124161
+v 0.12709610 0.09554805 0.04633063
+v 0.14079593 0.09159137 0.03438198
+v 0.12709610 0.09540337 0.04560023
+f 1 2 8
+f 1 8 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 8 26
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+f 21 31 44
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+f 21 25 35
+f 21 35 31
+f 22 32 33
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+f 28 41 42
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+f 29 53 43
+f 29 43 30
+f 31 35 45
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+f 33 46 45
+f 33 45 47
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+f 44 45 46
+f 45 49 54
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+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_45.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb30fdccd34df0568dfc6d0277f51101be657c68
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_45.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v -0.12063753 -0.08821640 0.06325557
+v -0.12063753 -0.09180614 0.06277639
+v -0.12063753 -0.08418899 0.06228334
+v -0.12186069 -0.08422623 0.06223598
+v -0.12681708 -0.08465225 0.06192396
+v -0.12186069 -0.08821640 0.06314414
+v -0.12186069 -0.09267914 0.06254518
+v -0.12063753 -0.09279554 0.06261204
+v -0.12063753 -0.08147920 0.05857543
+v -0.16554444 -0.07195306 0.05010661
+v -0.17218269 -0.07195307 0.05075292
+v -0.17796089 -0.07195306 0.05030719
+v -0.12751786 -0.08821640 0.06213846
+v -0.18164314 -0.07195306 0.04964416
+v -0.12653041 -0.09192487 0.06202144
+v -0.13434085 -0.09307487 0.05782044
+v -0.12186069 -0.09544942 0.05857538
+v -0.12063753 -0.09566358 0.05853081
+v -0.12063753 -0.08102755 0.05245222
+v -0.13082424 -0.07894634 0.05558348
+v -0.16104037 -0.07195305 0.04630676
+v -0.13063313 -0.08821640 0.06148101
+v -0.18304469 -0.07195306 0.04828191
+v -0.18143291 -0.07320086 0.04956058
+v -0.15640889 -0.08527845 0.05558625
+v -0.15640889 -0.08460566 0.05558625
+v -0.14468047 -0.09164782 0.05590380
+v -0.14058412 -0.09227870 0.05670612
+v -0.14678916 -0.09238576 0.05263326
+v -0.14058412 -0.09362891 0.05245218
+v -0.13434085 -0.09446931 0.05245217
+v -0.12810396 -0.09506527 0.05245217
+v -0.12063753 -0.09573342 0.05363614
+v -0.12063753 -0.08620259 0.03479852
+v -0.12084139 -0.08603963 0.03479852
+v -0.12095606 -0.08598609 0.03479852
+v -0.12359352 -0.08477088 0.03479853
+v -0.16142898 -0.07195303 0.04203055
+v -0.16130157 -0.07195304 0.04245399
+v -0.18445899 -0.07195305 0.04622319
+v -0.18256053 -0.07551486 0.04593902
+v -0.17983387 -0.07730509 0.04771915
+v -0.17567382 -0.07967032 0.04985586
+v -0.16921394 -0.08550191 0.04977783
+v -0.15619865 -0.09130325 0.04940450
+v -0.15306428 -0.09176886 0.05039068
+v -0.15619865 -0.09130325 0.04933207
+v -0.15306428 -0.09176885 0.04794474
+v -0.12186069 -0.09470903 0.03479849
+v -0.12063753 -0.09430862 0.03479849
+v -0.12635839 -0.08477088 0.03479853
+v -0.17579486 -0.07195301 0.03480972
+v -0.16974909 -0.07195301 0.03613020
+v -0.16788248 -0.07195301 0.03674307
+v -0.16781240 -0.07195302 0.03678487
+v -0.18558659 -0.07195303 0.04137866
+v -0.18135009 -0.07919306 0.04363514
+v -0.17786533 -0.08061081 0.04593900
+v -0.17336126 -0.08393517 0.04633178
+v -0.17023963 -0.08585809 0.04633177
+v -0.16554444 -0.08784153 0.04633177
+v -0.15868959 -0.09025332 0.04690843
+v -0.15306428 -0.09101921 0.04488315
+v -0.12825049 -0.09364049 0.03479850
+v -0.12937810 -0.08772276 0.03479852
+v -0.17800548 -0.07195301 0.03498523
+v -0.18572038 -0.07195303 0.04027827
+v -0.18135009 -0.07919306 0.04286069
+v -0.17021414 -0.08573468 0.04202771
+v -0.16554444 -0.08660535 0.04112510
+v -0.17208712 -0.08366511 0.04007486
+v -0.17585857 -0.07966562 0.03657311
+v -0.17797363 -0.07589428 0.03580145
+v -0.18164952 -0.07195301 0.03590733
+v -0.18294276 -0.07195301 0.03626949
+v -0.18208271 -0.07383402 0.03646727
+v -0.18294276 -0.07589430 0.04057355
+v -0.18001862 -0.07793826 0.03877669
+v -0.17797363 -0.08060847 0.04057353
+f 1 2 8
+f 1 8 18
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+f 1 33 50
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+f 1 34 19
+f 1 19 9
+f 1 9 3
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+f 1 4 5
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+f 6 15 7
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+f 71 79 72
+f 72 79 78
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+f 73 76 74
+f 74 76 75
+f 76 78 77
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_46.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfdf3753aa016e0c5ae81e396d1f1d60190c42dc
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_46.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.06752482 0.09031268 -0.03792866
+v -0.06572280 0.09508823 -0.03792864
+v -0.06752351 0.09029026 -0.03792866
+v -0.06401271 0.09113718 0.01183749
+v -0.06401271 0.09535024 0.01183751
+v -0.05944592 0.09679244 -0.02102489
+v -0.05944592 0.09661542 -0.02714825
+v -0.05944592 0.09626136 -0.03327158
+v -0.05944592 0.09579302 -0.03792864
+v -0.05944592 0.09731335 0.01183752
+v -0.06504507 0.08586879 -0.03792867
+v -0.05944592 0.08890403 0.01183749
+v -0.05524425 0.09481252 -0.02102490
+v -0.05487649 0.09535248 0.01183751
+v -0.05502885 0.09513403 -0.00265975
+v -0.05516807 0.09492119 -0.01490156
+v -0.05539924 0.09462766 -0.02714825
+v -0.05644341 0.09448876 -0.03792864
+v -0.06423599 0.08586879 -0.03792867
+v -0.05770168 0.08971415 0.01183749
+v -0.05913857 0.08597075 -0.03792867
+v -0.05861583 0.08614219 -0.03792867
+v -0.05410813 0.09090430 -0.03792866
+v -0.05552795 0.09401591 -0.03792864
+v -0.05487649 0.09115735 0.01183749
+v -0.05801034 0.08648506 -0.03792867
+v -0.05410813 0.09015020 -0.03792866
+v -0.05654324 0.08751142 -0.03646725
+v -0.05502097 0.08882690 -0.03792866
+f 1 2 9
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+f 1 24 23
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+f 1 26 22
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+f 26 29 28
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_47.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61f261b269dea908ca364246554d455dbed9aafa
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_47.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.16112689 0.07722705 0.01560858
+v 0.16077262 0.07722703 0.02248894
+v 0.16902319 0.07722705 0.01560858
+v 0.16038309 0.06623292 0.01560854
+v 0.16054763 0.07722701 0.02732202
+v 0.17426668 0.07722702 0.02388275
+v 0.17497019 0.07681273 0.02438054
+v 0.17074416 0.06568054 0.01560854
+v 0.15931861 0.01644097 0.01560836
+v 0.16209230 0.06268069 0.03108888
+v 0.16521187 0.06525083 0.03410097
+v 0.16169102 0.07722701 0.02834113
+v 0.15933036 0.01644097 0.01571335
+v 0.16010438 0.01644095 0.02183707
+v 0.16127464 0.01618008 0.02825946
+v 0.16202682 0.01258953 0.03124800
+v 0.16202682 0.01395516 0.03124800
+v 0.16204697 0.03822202 0.03119921
+v 0.17466292 0.07722702 0.02533267
+v 0.17570559 0.06568050 0.02795915
+v 0.17525393 0.07184120 0.02396056
+v 0.17497019 0.07681272 0.02653461
+v 0.17619753 0.05952744 0.03410095
+v 0.17534963 0.06568051 0.02381573
+v 0.17570054 0.04721375 0.02360207
+v 0.17575595 0.04106072 0.02353507
+v 0.17579793 0.03490769 0.02349885
+v 0.17581640 0.02875467 0.02353141
+v 0.17555783 -0.00115119 0.02380463
+v 0.17074248 0.06558080 0.01560854
+v 0.16017657 0.01022657 0.01560834
+v 0.16126624 -0.00115119 0.02369059
+v 0.16126624 -0.00115120 0.02731450
+v 0.16467460 0.05946606 0.03410095
+v 0.17153496 0.06819691 0.03410098
+v 0.16568870 0.07722699 0.03172791
+v 0.16134683 0.01044134 0.02830650
+v 0.16158357 -0.00115120 0.02775256
+v 0.16350937 -0.00115121 0.03037727
+v 0.16493484 0.01044899 0.03410077
+v 0.16462086 0.01660201 0.03410079
+v 0.16462086 0.01664805 0.03410079
+v 0.17466292 0.07722701 0.02696905
+v 0.17590873 0.05952747 0.02795913
+v 0.17635031 0.04106071 0.02795906
+v 0.17574084 0.06555771 0.03410097
+v 0.17646952 0.01644090 0.03410079
+v 0.17642586 0.03490768 0.02795904
+v 0.17628147 0.01644093 0.02795897
+v 0.17560652 -0.00115119 0.02440017
+v 0.17147956 -0.00115118 0.02214473
+v 0.16523873 0.00520901 0.01560832
+v 0.16944965 0.01043371 0.01560834
+v 0.16946140 0.01051043 0.01560834
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+v 0.16023030 0.00990434 0.01560834
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+v 0.16467963 -0.00115118 0.02226058
+v 0.17053764 0.07722699 0.03162655
+v 0.16996511 0.07722699 0.03164465
+v 0.16618401 -0.00115122 0.03167695
+v 0.16528071 0.01024951 0.03410077
+v 0.16662895 -0.00115122 0.03186702
+v 0.17376466 0.07722700 0.02888780
+v 0.17096074 0.07722699 0.03145277
+v 0.17597590 0.01098604 0.03410077
+v 0.17586005 -0.00115120 0.02795891
+v 0.16523873 -0.00115118 0.02203069
+v 0.17017330 0.00751057 0.03410076
+v 0.16731901 -0.00115122 0.03193942
+v 0.17583654 0.01039528 0.03410077
+v 0.17490134 -0.00115122 0.03148689
+v 0.17147956 -0.00115122 0.03233403
+v 0.17147956 0.00728041 0.03410076
+v 0.17197318 -0.00115122 0.03223628
+f 1 2 5
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+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_48.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22756dab3680e025ca0bf77034348c8d0ae20567
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_48.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.00268698 -0.10796467 0.04632693
+v 0.00268698 -0.10543864 0.05097148
+v -0.01192173 -0.10767752 0.04632693
+v -0.00327573 -0.10716134 0.00959038
+v -0.00327573 -0.10693441 0.00347674
+v 0.00185368 -0.10471552 -0.01490065
+v 0.00268698 -0.10346253 -0.01490065
+v 0.00268698 -0.10052911 0.05239497
+v -0.01192173 -0.10052911 0.05219423
+v -0.01192173 -0.10523382 0.05078898
+v -0.00824228 -0.10548464 0.00347674
+v -0.00835612 -0.10598466 0.00959038
+v -0.01346656 -0.09364739 -0.04080600
+v -0.01300169 -0.09781195 -0.04080602
+v -0.01298746 -0.09785212 -0.04080602
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+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_49.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f0946ef1437acaaedd291b30fe46460b39d63c1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_49.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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+v -0.05410903 0.09090307 -0.03792866
+v -0.05502287 0.08882704 -0.03792866
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+v -0.04804641 0.08901915 -0.04130281
+v -0.05552885 0.09401520 -0.03792864
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+v -0.05914127 0.08597105 -0.03792867
+v -0.06423486 0.08586859 -0.03792867
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+v -0.07192582 0.08901537 -0.05594925
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+v -0.07937146 0.08271042 -0.05608727
+v -0.07937146 0.09162416 -0.05160738
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+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_5.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..429dacec61319000a073bb6bb4f4d92882f4c665
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_5.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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+v -0.12063753 -0.09302930 0.02208953
+v -0.12063753 -0.08636098 0.02794659
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+v -0.10752550 -0.09357378 -0.00750244
+v -0.12063753 -0.09337315 0.02266129
+v -0.10313371 -0.08747986 -0.00750242
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+v -0.08441581 -0.08863067 -0.00750243
+v -0.12063753 -0.08147961 0.05857053
+v -0.11561230 -0.08148358 0.05857053
+v -0.10937301 -0.08186520 0.05857053
+v -0.09688912 -0.08255088 0.05244854
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+v -0.08441581 -0.10079288 0.04632647
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+v -0.12063753 -0.09573253 0.05363384
+v -0.06671140 -0.08822931 0.02796053
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+v -0.10937301 -0.08421850 0.06239154
+v -0.10434250 -0.08465378 0.06204291
+v -0.10261112 -0.08319489 0.05915623
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+v -0.09017476 -0.08381498 0.05289478
+v -0.08568795 -0.08451858 0.05114464
+v -0.06671140 -0.08780002 0.03508659
+v -0.08092666 -0.09768410 -0.00750246
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+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_50.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25115a9d4a3a0f655b99b9b41c33b64b51c1cbda
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_50.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.16602863 -0.02261650 0.01559810
+v 0.16906119 -0.01452839 0.01559813
+v 0.16304902 -0.02261650 0.01559810
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+v 0.16525572 -0.01436430 -0.03340202
+v 0.16538200 -0.01424452 -0.03340202
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+v 0.16181074 -0.00115113 0.00603413
+v 0.16523841 -0.00115113 0.00589983
+v 0.16474453 -0.00115113 0.00591902
+f 1 2 5
+f 1 5 10
+f 1 10 18
+f 1 18 33
+f 1 33 44
+f 1 44 34
+f 1 34 19
+f 1 19 11
+f 1 11 6
+f 1 6 3
+f 1 3 7
+f 1 7 12
+f 1 12 22
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+f 1 42 23
+f 1 23 13
+f 1 13 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 8 9
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+f 24 45 31
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+f 37 47 38
+f 38 47 45
+f 38 40 39
+f 40 43 41
+f 45 48 46
+f 45 47 49
+f 45 49 48
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_51.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..494ecd4fbfd97236db87acbdaaf5e25255c18573
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_51.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.11117563 0.08892105 0.02744640
+v 0.11117563 0.09038280 0.02260740
+v 0.11117563 0.09794329 0.02744643
+v 0.09603820 0.08813162 0.02744639
+v 0.09603167 0.08808828 0.02736032
+v 0.09358657 0.08722975 0.02491978
+v 0.09361921 0.08720283 0.02183468
+v 0.09378243 0.08709512 0.00791059
+v 0.11117563 0.09622507 0.02260742
+v 0.09572481 0.08942008 0.00791060
+v 0.09645606 0.09031258 0.00791060
+v 0.09613940 0.09586086 0.00791062
+v 0.09038737 0.09905951 0.02744643
+v 0.09089663 0.08792314 0.02744639
+v 0.09090642 0.08789034 0.02736032
+v 0.09335805 0.08722975 0.02491978
+v 0.09364859 0.08715483 0.01571420
+v 0.09331888 0.08720283 0.02183468
+v 0.09314260 0.08709512 0.00791059
+v 0.09624713 0.09435344 0.00791062
+v 0.09066485 0.09586086 0.00791062
+v 0.07782889 0.09745487 0.02744643
+v 0.08991076 0.08798755 0.02744639
+v 0.07782889 0.08902998 0.02744640
+v 0.09327970 0.08715483 0.01571420
+v 0.07782889 0.09062057 0.02283309
+v 0.09236565 0.08798645 0.00791059
+v 0.09033840 0.09031258 0.00791060
+v 0.07782889 0.09592523 0.02283311
+v 0.07782889 0.09593694 0.02286754
+f 1 2 9
+f 1 9 3
+f 1 3 13
+f 1 13 22
+f 1 22 24
+f 1 24 23
+f 1 23 14
+f 1 14 4
+f 1 4 5
+f 1 5 6
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+f 1 8 2
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+f 4 14 5
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+f 5 15 6
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+f 22 26 24
+f 26 28 27
+f 26 29 28
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_52.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99f45352291884594f6821aa31ceb7c8fd6b0a67
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_52.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.11646812 0.09031214 -0.03329769
+v -0.11477834 0.09522037 -0.03329767
+v -0.11418493 0.08629874 -0.03329770
+v -0.11344315 0.09194474 0.01183750
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+v -0.10937247 0.09667961 -0.01490516
+v -0.10937247 0.09625875 -0.02102864
+v -0.11475663 0.09522037 -0.03329767
+v -0.11451420 0.09534518 -0.02715211
+v -0.10937247 0.09758318 0.01183752
+v -0.10937247 0.09741198 0.00346525
+v -0.10937247 0.09722641 -0.00265822
+v -0.10937247 0.09699996 -0.00878611
+v -0.11064977 0.08629874 -0.03329770
+v -0.08441288 0.08910232 0.01183749
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+v -0.08497735 0.09519164 -0.03329767
+v -0.08441288 0.09700542 0.01183752
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+v -0.08615333 0.08651968 -0.03329770
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+v -0.07950274 0.09067875 0.01183749
+v -0.08612800 0.08652188 -0.03329770
+v -0.07960768 0.09552182 0.00346524
+v -0.07978859 0.09530422 -0.00265823
+v -0.08004188 0.09503689 -0.00878612
+v -0.08036392 0.09470660 -0.01490517
+v -0.08357704 0.09031325 -0.03329769
+v -0.08072214 0.09424708 -0.02102864
+v -0.08104417 0.09377317 -0.02569415
+v -0.08132279 0.09620450 0.01183751
+v -0.07952807 0.09065997 0.00958869
+v -0.07950274 0.09565877 0.01183751
+v -0.08072214 0.09191724 -0.02102865
+v -0.08036392 0.09133393 -0.01490518
+v -0.08004188 0.09087877 -0.00878614
+v -0.07978859 0.09066002 -0.00265825
+v -0.07960768 0.09063349 0.00346522
+v -0.07952807 0.09564442 0.00958871
+v -0.08104417 0.09262427 -0.02569415
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+f 27 41 40
+f 27 40 28
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+f 28 39 29
+f 29 39 38
+f 29 38 30
+f 30 38 37
+f 30 37 32
+f 31 33 43
+f 31 43 37
+f 32 37 43
+f 32 43 33
+f 34 36 42
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_53.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05721180ca4aa18ed3871878c6881db64146a411
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_53.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.17119948 0.00034966 0.00494350
+v -0.17405872 0.00412617 0.00709846
+v -0.17093954 0.00412618 0.00517997
+v -0.16640601 0.00034966 0.00494350
+v -0.17431865 0.00034965 0.00700708
+v -0.17613091 0.00412616 0.01016159
+v -0.17574173 0.01028473 0.01132238
+v -0.17521026 0.01409324 0.01229238
+v -0.16972412 0.00791185 0.00609355
+v -0.16668771 0.00412618 0.00517997
+v -0.16484933 0.00115892 0.00657986
+v -0.16519929 0.00034966 0.00612845
+v -0.17512022 0.00034965 0.00819203
+v -0.17614253 0.00034964 0.01007021
+v -0.17965086 0.02874662 0.03238819
+v -0.17964941 0.02880606 0.03238819
+v -0.17874474 0.03490519 0.03238821
+v -0.17684680 0.04045110 0.03238823
+v -0.17560233 0.02113420 0.01759646
+v -0.16484933 0.04327211 0.01957683
+v -0.16484933 0.04105923 0.01840799
+v -0.16797576 0.00791185 0.00609355
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+v -0.16484933 0.00034966 0.00653149
+v -0.17647942 0.00034962 0.01571282
+v -0.17968281 0.02259720 0.03238816
+v -0.17968281 0.02268407 0.03238816
+v -0.17443046 0.04329949 0.03238824
+v -0.16484933 0.04616163 0.02335201
+v -0.16484933 0.00034961 0.01771461
+v -0.17524511 0.00034961 0.01915482
+v -0.17786764 0.01639749 0.03238814
+v -0.16984754 0.04657308 0.03238825
+v -0.16484933 0.04681543 0.02557682
+v -0.16679517 0.00034961 0.02018930
+v -0.16484933 0.02389110 0.03238817
+v -0.17389028 0.00034961 0.01975132
+v -0.17178905 0.00034960 0.02057084
+v -0.17172806 0.01589456 0.03238814
+v -0.16484933 0.04605187 0.03238825
+v -0.16484933 0.04705774 0.02739320
+v -0.16853628 0.01815773 0.03238815
+v -0.16749510 0.01967108 0.03238815
+f 1 2 3
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+f 32 38 39
+f 33 40 41
+f 33 41 34
+f 35 42 39
+f 35 39 38
+f 35 36 43
+f 35 43 42
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_54.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d82eef0348d1d79e5b7b35e4dd528980fd2ede78
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_54.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.12339403 0.09084953 -0.03503769
+v 0.12265117 0.09356149 -0.03503768
+v 0.12261465 0.08880082 -0.03503769
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+v 0.12709609 0.08998978 -0.04041635
+v 0.12173783 0.09515984 -0.03503767
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+v 0.12709609 0.09246920 -0.04442373
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+v 0.12709609 0.09289009 -0.04552280
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+v 0.09549453 0.08576297 -0.03503770
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+v 0.04090113 0.09575104 -0.03503767
+v 0.12709609 0.08798698 -0.05445450
+v 0.12709609 0.08755791 -0.05483928
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+v 0.12709609 0.08407297 -0.05294816
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+f 56 58 72
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_55.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be753b69de7a4740463c478bb9a10a4b8a28ff57
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_55.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.14474968 -0.02075048 -0.05024469
+v -0.14474968 -0.02075049 -0.04703468
+v -0.14470332 -0.02075047 -0.05047481
+v -0.15163032 -0.03264683 -0.04656865
+v -0.15086213 -0.03117814 -0.04656864
+v -0.14552450 -0.02291382 -0.04656861
+v -0.14393513 -0.02075049 -0.04656861
+v -0.14294840 -0.02075046 -0.05350568
+v -0.15104093 -0.03400436 -0.05034522
+v -0.15186872 -0.03745776 -0.04656867
+v -0.13529295 -0.02075049 -0.04656861
+v -0.13985576 -0.02075045 -0.05720068
+v -0.14890853 -0.03229551 -0.05209150
+v -0.14561721 -0.03281152 -0.05625840
+v -0.15104093 -0.03733271 -0.05034524
+v -0.15186872 -0.03817821 -0.04656867
+v -0.13528633 -0.02084576 -0.04656861
+v -0.09159861 -0.02075049 -0.04699827
+v -0.13953789 -0.02075045 -0.05722981
+v -0.13767038 -0.03553254 -0.06088409
+v -0.14008092 -0.03321242 -0.05943782
+v -0.13767038 -0.03610811 -0.06088409
+v -0.14551125 -0.03747756 -0.05612589
+v -0.14617349 -0.04102426 -0.05261877
+v -0.14678275 -0.04102426 -0.05177257
+v -0.14902111 -0.04058962 -0.04656868
+v -0.13502144 -0.03281156 -0.04656865
+v -0.09155225 -0.02665698 -0.04700703
+v -0.09149265 -0.03281156 -0.04701724
+v -0.08421467 -0.03237689 -0.05265224
+v -0.09153901 -0.02075049 -0.04721528
+v -0.13531282 -0.03898399 -0.04656867
+v -0.13542540 -0.04102428 -0.04656868
+v -0.13441880 -0.02075045 -0.05722981
+v -0.08441335 -0.03442705 -0.06144628
+v -0.13433934 -0.03205136 -0.06036267
+v -0.13433934 -0.03512964 -0.06094234
+v -0.13433934 -0.03614581 -0.06094234
+v -0.14022661 -0.04102424 -0.05774255
+v -0.14849132 -0.04102428 -0.04656868
+v -0.09155225 -0.04102428 -0.04703038
+v -0.09152576 -0.03896812 -0.04702746
+v -0.08421467 -0.03751529 -0.05276295
+v -0.08421467 -0.03121184 -0.05768425
+v -0.09190324 -0.02075047 -0.05220216
+v -0.11655167 -0.02075046 -0.05546023
+v -0.08421467 -0.03442705 -0.06144628
+v -0.08441335 -0.03674915 -0.06144628
+v -0.09065823 -0.03446277 -0.06138802
+v -0.12185618 -0.03455209 -0.06104430
+v -0.12809444 -0.03478034 -0.06099769
+v -0.10937965 -0.03462553 -0.06119431
+v -0.10313477 -0.03457788 -0.06125985
+v -0.09689650 -0.03451239 -0.06132394
+v -0.09065823 -0.03667572 -0.06138802
+v -0.13869684 -0.04102424 -0.05774255
+v -0.08421467 -0.03675114 -0.06144628
+v -0.08967812 -0.04102426 -0.05145361
+v -0.08421467 -0.03768201 -0.05277751
+v -0.11561792 -0.03454019 -0.06111421
+v -0.13447840 -0.04102424 -0.05771197
+v -0.08421467 -0.03681068 -0.06133123
+v -0.09142643 -0.04102424 -0.05689490
+v -0.08421467 -0.03853541 -0.05777021
+v -0.08421467 -0.03851755 -0.05759398
+f 1 2 7
+f 1 7 11
+f 1 11 18
+f 1 18 31
+f 1 31 45
+f 1 45 46
+f 1 46 34
+f 1 34 19
+f 1 19 12
+f 1 12 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 4 10 16
+f 4 16 26
+f 4 26 40
+f 4 40 33
+f 4 33 32
+f 4 32 27
+f 4 27 17
+f 4 17 11
+f 4 11 7
+f 4 7 6
+f 4 6 5
+f 8 12 13
+f 8 13 9
+f 9 13 14
+f 9 14 15
+f 9 15 16
+f 9 16 10
+f 11 17 18
+f 12 19 20
+f 12 20 21
+f 12 21 14
+f 12 14 13
+f 14 21 20
+f 14 20 22
+f 14 22 23
+f 14 23 15
+f 15 24 25
+f 15 25 16
+f 15 23 24
+f 16 25 26
+f 17 27 18
+f 18 28 29
+f 18 29 30
+f 18 30 31
+f 18 27 32
+f 18 32 33
+f 18 33 28
+f 19 34 47
+f 19 47 35
+f 19 35 36
+f 19 36 20
+f 20 36 37
+f 20 37 38
+f 20 38 22
+f 22 38 39
+f 22 39 23
+f 23 39 24
+f 24 39 56
+f 24 56 61
+f 24 61 63
+f 24 63 58
+f 24 58 41
+f 24 41 33
+f 24 33 40
+f 24 40 25
+f 25 40 26
+f 28 33 29
+f 29 33 41
+f 29 41 42
+f 29 42 30
+f 30 43 59
+f 30 59 65
+f 30 65 64
+f 30 64 62
+f 30 62 57
+f 30 57 47
+f 30 47 44
+f 30 44 31
+f 30 42 41
+f 30 41 43
+f 31 44 45
+f 34 46 47
+f 35 47 57
+f 35 57 48
+f 35 48 55
+f 35 55 49
+f 35 49 36
+f 36 50 51
+f 36 51 37
+f 36 49 50
+f 37 51 52
+f 37 52 53
+f 37 53 54
+f 37 54 49
+f 37 49 55
+f 37 55 38
+f 38 55 39
+f 39 55 48
+f 39 48 57
+f 39 57 56
+f 41 58 59
+f 41 59 43
+f 44 47 45
+f 45 47 46
+f 49 54 60
+f 49 60 50
+f 50 60 51
+f 51 60 52
+f 52 60 54
+f 52 54 53
+f 56 57 61
+f 57 62 63
+f 57 63 61
+f 58 63 64
+f 58 64 65
+f 58 65 59
+f 62 64 63
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_56.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7753b6a3023d4a48e6175e47fe35fe345b9c74a8
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_56.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.12104818 0.02790637 -0.05170345
+v -0.13205212 0.02786591 -0.05292384
+v -0.13205212 0.02786591 -0.05288406
+v -0.12019990 0.02790635 -0.04719414
+v -0.11962025 0.02790638 -0.05532057
+v -0.13205212 0.02701616 -0.05532909
+v -0.13205212 0.02254075 -0.05106984
+v -0.13205212 0.01643595 -0.05003843
+v -0.12027059 0.01643594 -0.04724248
+v -0.12024703 0.01028260 -0.04726239
+v -0.11561454 0.01028260 -0.04712032
+v -0.09599122 0.02790635 -0.04686311
+v -0.11884268 0.02790638 -0.05540581
+v -0.13205212 0.02630399 -0.05624261
+v -0.13205212 0.01026644 -0.05170636
+v -0.12009151 0.00035255 -0.04731926
+v -0.11561454 0.00035255 -0.04722407
+v -0.09592996 0.00035255 -0.04697545
+v -0.09140585 0.02790635 -0.04686311
+v -0.11736762 0.02790638 -0.05540581
+v -0.12185403 0.01477695 -0.06134725
+v -0.12809823 0.01468792 -0.06133162
+v -0.13205212 0.01647646 -0.06046498
+v -0.08391751 0.01481471 -0.06135009
+v -0.08441234 0.01481471 -0.06135151
+v -0.09065184 0.01480123 -0.06136856
+v -0.11561454 0.01787384 -0.06000040
+v -0.11561454 0.01479583 -0.06136146
+v -0.13205212 0.00980516 -0.05799013
+v -0.12177391 0.00035257 -0.05187262
+v -0.09157551 0.00035255 -0.04697545
+v -0.09140585 0.02259198 -0.04688870
+v -0.09139643 0.01643594 -0.04692140
+v -0.08391751 0.01697819 -0.05241669
+v -0.09122206 0.02790635 -0.04760472
+v -0.09157551 0.02790637 -0.05218933
+v -0.12185403 0.01255678 -0.06134725
+v -0.12809823 0.01256487 -0.06133162
+v -0.13205212 0.01452606 -0.06123927
+v -0.08391751 0.01813011 -0.05783525
+v -0.08391751 0.01258915 -0.06135009
+v -0.08441234 0.01258645 -0.06135151
+v -0.09065184 0.01256218 -0.06136856
+v -0.09689604 0.01477425 -0.06137566
+v -0.11561454 0.01254869 -0.06136146
+v -0.10937504 0.01474458 -0.06136856
+v -0.13205212 0.01250282 -0.06123927
+v -0.12057220 0.00035259 -0.05600119
+v -0.09069425 0.00035256 -0.05031695
+v -0.08391751 0.01158019 -0.05263407
+v -0.08391751 0.01195786 -0.05259145
+v -0.08391751 0.01698898 -0.05245647
+v -0.08571302 0.02019650 -0.05355750
+v -0.11724980 0.00035259 -0.05648565
+v -0.08391751 0.01244077 -0.06106595
+v -0.09077907 0.00035257 -0.05214681
+v -0.11643924 0.00035259 -0.05648565
+v -0.09689604 0.01254869 -0.06137566
+v -0.10313554 0.01473648 -0.06137282
+v -0.10937504 0.01254599 -0.06136856
+v -0.08391751 0.01078710 -0.05776992
+v -0.10313554 0.01254599 -0.06137282
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 19
+f 1 19 35
+f 1 35 36
+f 1 36 20
+f 1 20 13
+f 1 13 5
+f 1 5 2
+f 2 6 14
+f 2 14 23
+f 2 23 39
+f 2 39 47
+f 2 47 29
+f 2 29 15
+f 2 15 8
+f 2 8 7
+f 2 7 3
+f 2 5 6
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 5 13 6
+f 6 13 14
+f 8 15 16
+f 8 16 10
+f 8 10 9
+f 10 16 11
+f 11 16 17
+f 11 17 18
+f 11 18 12
+f 12 18 31
+f 12 31 19
+f 13 20 14
+f 14 21 22
+f 14 22 23
+f 14 20 24
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 14 27 28
+f 14 28 21
+f 15 29 30
+f 15 30 16
+f 16 30 48
+f 16 48 54
+f 16 54 57
+f 16 57 56
+f 16 56 49
+f 16 49 31
+f 16 31 18
+f 16 18 17
+f 19 31 32
+f 19 32 33
+f 19 33 34
+f 19 34 35
+f 20 36 24
+f 21 37 38
+f 21 38 22
+f 21 28 45
+f 21 45 37
+f 22 38 47
+f 22 47 39
+f 22 39 23
+f 24 36 40
+f 24 40 52
+f 24 52 34
+f 24 34 51
+f 24 51 50
+f 24 50 61
+f 24 61 55
+f 24 55 41
+f 24 41 42
+f 24 42 25
+f 25 42 43
+f 25 43 26
+f 26 43 58
+f 26 58 44
+f 26 44 28
+f 26 28 27
+f 28 44 46
+f 28 46 60
+f 28 60 45
+f 29 47 48
+f 29 48 30
+f 31 49 50
+f 31 50 51
+f 31 51 34
+f 31 34 33
+f 31 33 32
+f 34 52 35
+f 35 52 53
+f 35 53 40
+f 35 40 36
+f 37 45 54
+f 37 54 38
+f 38 54 47
+f 40 53 52
+f 41 55 56
+f 41 56 57
+f 41 57 42
+f 42 57 43
+f 43 57 58
+f 44 58 62
+f 44 62 59
+f 44 59 46
+f 45 60 54
+f 46 59 62
+f 46 62 60
+f 47 54 48
+f 49 56 61
+f 49 61 50
+f 54 60 62
+f 54 62 58
+f 54 58 57
+f 55 61 56
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_57.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcfd71bf328b8f105c1796ed90a295c93daa9965
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_57.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.15894806 0.05335539 0.02508959
+v -0.16206649 0.05337550 0.02482309
+v -0.16207294 0.05335539 0.02481449
+v -0.15593934 0.05335539 0.02507239
+v -0.15594471 0.05337550 0.02508386
+v -0.15930518 0.08270724 0.02819312
+v -0.15970212 0.08270724 0.02813007
+v -0.16298944 0.08270724 0.02686635
+v -0.16320887 0.05335540 0.02176551
+v -0.15374921 0.08270724 0.02726180
+v -0.15450865 0.05335540 0.02183428
+v -0.16367788 0.08270726 0.02183438
+v -0.16351868 0.05951313 0.01574493
+v -0.16320887 0.05335542 0.01755310
+v -0.15336090 0.08270724 0.02628750
+v -0.15474854 0.05335542 0.01684530
+v -0.15375997 0.06032349 -0.00107892
+v -0.15288651 0.06568814 -0.00107890
+v -0.15345878 0.06568808 0.01571056
+v -0.15268966 0.08270726 0.02192895
+v -0.16341110 0.08270728 0.01740419
+v -0.16321425 0.06494393 -0.00107890
+v -0.16330891 0.06501288 0.00346592
+v -0.16330891 0.06131193 0.00346591
+v -0.16321425 0.06144987 -0.00107891
+v -0.16320673 0.05335542 0.01753017
+v -0.15930518 0.05335542 0.01560736
+v -0.15930518 0.05915976 -0.00107892
+v -0.15346201 0.06657890 -0.00107890
+v -0.15431504 0.08270728 0.01594274
+v -0.15283703 0.08270726 0.02069674
+v -0.16334119 0.08270728 0.01648433
+v -0.16192019 0.06722829 -0.00107889
+v -0.15531220 0.06925117 -0.00107889
+v -0.15930518 0.08270729 0.01341529
+v -0.16137804 0.06802135 -0.00107889
+v -0.15825638 0.06925117 -0.00107889
+v -0.15905992 0.06897819 -0.00107889
+f 1 2 3
+f 1 3 9
+f 1 9 14
+f 1 14 26
+f 1 26 27
+f 1 27 16
+f 1 16 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 4 10 5
+f 4 11 10
+f 5 10 6
+f 6 10 15
+f 6 15 20
+f 6 20 31
+f 6 31 30
+f 6 30 35
+f 6 35 32
+f 6 32 21
+f 6 21 12
+f 6 12 8
+f 6 8 7
+f 8 12 9
+f 9 12 13
+f 9 13 14
+f 10 11 15
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 11 20 15
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 13
+f 13 24 25
+f 13 25 14
+f 14 25 26
+f 16 27 28
+f 16 28 17
+f 17 28 25
+f 17 25 22
+f 17 22 33
+f 17 33 36
+f 17 36 38
+f 17 38 37
+f 17 37 34
+f 17 34 29
+f 17 29 18
+f 18 29 30
+f 18 30 31
+f 18 31 20
+f 18 20 19
+f 21 32 22
+f 22 25 24
+f 22 24 23
+f 22 32 33
+f 25 28 26
+f 26 28 27
+f 29 34 30
+f 30 34 35
+f 32 35 36
+f 32 36 33
+f 34 37 35
+f 35 37 38
+f 35 38 36
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_58.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f488e6f954eb4baa75fd6705f651ec85934ef997
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_58.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v -0.02788008 0.09033479 -0.03393002
+v -0.02893015 0.09471071 -0.03393000
+v -0.02806352 0.08979770 -0.03393002
+v -0.01573151 0.08580544 -0.04130126
+v -0.01573151 0.08583390 -0.04129903
+v -0.01573151 0.08907996 -0.04129902
+v -0.02921164 0.09517479 -0.03393000
+v -0.02998338 0.08633755 -0.03393003
+v -0.01573151 0.08274007 -0.04375836
+v -0.01573151 0.09177781 -0.04552134
+v -0.02919899 0.09489513 -0.03939984
+v -0.03447781 0.09515377 -0.03939984
+v -0.03447781 0.09535176 -0.03393000
+v -0.03072982 0.08632641 -0.03393003
+v -0.01573151 0.08271161 -0.04379183
+v -0.01573151 0.09144988 -0.05166292
+v -0.01575997 0.09146102 -0.05164507
+v -0.02944569 0.09420709 -0.04552133
+v -0.03505029 0.09419099 -0.04608148
+v -0.04804018 0.09169244 -0.05064082
+v -0.04804018 0.09165776 -0.04554589
+v -0.03776403 0.09356599 -0.03393001
+v -0.03371873 0.08632641 -0.03393003
+v -0.02824380 0.08271161 -0.04335889
+v -0.01573151 0.08271166 -0.05590538
+v -0.01573151 0.08876196 -0.05580492
+v -0.02823748 0.09207484 -0.05131032
+v -0.03031232 0.09360689 -0.04904516
+v -0.03751100 0.09337795 -0.04849617
+v -0.04804018 0.09153774 -0.05164507
+v -0.03334867 0.09360689 -0.04904516
+v -0.04804018 0.09123576 -0.04451039
+v -0.03797278 0.09229504 -0.03393001
+v -0.04804018 0.08901932 -0.04130348
+v -0.03429437 0.08685607 -0.03393003
+v -0.04804018 0.08604057 -0.04151996
+v -0.04804018 0.08271161 -0.04387217
+v -0.04696165 0.08271161 -0.04379406
+v -0.03451577 0.08271161 -0.04338344
+v -0.01573151 0.08415587 -0.05633608
+v -0.02200031 0.08271166 -0.05607945
+v -0.02200031 0.08415587 -0.05650569
+v -0.02824064 0.08415587 -0.05664629
+v -0.03447781 0.08415587 -0.05670877
+v -0.02200031 0.08880528 -0.05584063
+v -0.03505029 0.09221344 -0.05131032
+v -0.04804018 0.08935351 -0.05520684
+v -0.03705239 0.08955267 -0.03393002
+v -0.03679936 0.08926556 -0.03393002
+v -0.04804018 0.08271166 -0.05636064
+v -0.02590012 0.08271166 -0.05616649
+v -0.02824064 0.08271166 -0.05621782
+v -0.03219106 0.08271166 -0.05625799
+v -0.04072131 0.08271166 -0.05632940
+v -0.04696165 0.08271166 -0.05636511
+v -0.04072131 0.08415587 -0.05672217
+v -0.04696165 0.08887706 -0.05595222
+v -0.04072131 0.08886097 -0.05592990
+v -0.03447781 0.08885107 -0.05590312
+v -0.02824064 0.08883746 -0.05587634
+v -0.04804018 0.08887830 -0.05595222
+v -0.04804018 0.08415587 -0.05672217
+v -0.04696165 0.08415587 -0.05672886
+v -0.04804018 0.08497511 -0.05659496
+f 1 2 7
+f 1 7 13
+f 1 13 22
+f 1 22 33
+f 1 33 48
+f 1 48 49
+f 1 49 35
+f 1 35 23
+f 1 23 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 4
+f 4 9 15
+f 4 15 25
+f 4 25 40
+f 4 40 26
+f 4 26 16
+f 4 16 10
+f 4 10 6
+f 4 6 5
+f 4 8 9
+f 6 10 7
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+f 7 11 12
+f 7 12 13
+f 8 14 15
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+f 19 29 30
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+f 20 30 47
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+f 20 61 64
+f 20 64 62
+f 20 62 50
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+f 20 36 34
+f 20 34 32
+f 20 32 21
+f 21 32 22
+f 22 32 34
+f 22 34 33
+f 23 35 36
+f 23 36 37
+f 23 37 38
+f 23 38 39
+f 23 39 24
+f 25 41 40
+f 26 40 42
+f 26 42 43
+f 26 43 44
+f 26 44 45
+f 26 45 46
+f 26 46 27
+f 27 46 28
+f 28 46 31
+f 29 31 30
+f 30 31 46
+f 30 46 47
+f 33 34 36
+f 33 36 48
+f 35 49 36
+f 36 49 48
+f 40 41 42
+f 41 51 43
+f 41 43 42
+f 43 51 52
+f 43 52 53
+f 43 53 44
+f 44 53 54
+f 44 54 55
+f 44 55 56
+f 44 56 57
+f 44 57 58
+f 44 58 59
+f 44 59 60
+f 44 60 45
+f 45 60 46
+f 46 59 57
+f 46 57 61
+f 46 61 47
+f 46 60 59
+f 50 62 63
+f 50 63 55
+f 55 63 56
+f 56 63 57
+f 57 63 64
+f 57 64 61
+f 57 59 58
+f 62 64 63
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_59.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a81f931ff7bc1cfce6e11d459e267033489a404
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_59.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.04702309 0.09630612 0.02951577
+v -0.04702309 0.09029839 0.02950364
+v -0.04702309 0.09641835 0.02951577
+v -0.05081227 0.09009070 0.02951575
+v -0.04702309 0.08933732 0.02795820
+v -0.05327761 0.08968821 0.02951575
+v -0.04702309 0.09730720 0.02801707
+v -0.04834693 0.09709562 0.02951578
+v -0.04702309 0.08934893 0.02790455
+v -0.05945286 0.08920960 0.02951575
+v -0.05320627 0.08898385 0.02795820
+v -0.05945286 0.08850656 0.02183527
+v -0.05945286 0.08890393 0.01183749
+v -0.04702309 0.09732526 0.02795996
+v -0.05383251 0.09905391 0.02951578
+v -0.04702309 0.09086088 0.02298959
+v -0.08441543 0.08836721 0.02795819
+v -0.05945286 0.08868198 0.02795820
+v -0.10937009 0.08874002 0.02951575
+v -0.10937009 0.08811823 0.02809491
+v -0.09842270 0.08719973 0.02502479
+v -0.09842270 0.08719973 0.02483615
+v -0.05770888 0.08971407 0.01183749
+v -0.10313142 0.08717393 0.02459214
+v -0.10937009 0.08719715 0.02463194
+v -0.10937009 0.08929610 0.01183749
+v -0.04702309 0.09581594 0.02304153
+v -0.05945286 0.09731371 0.01183752
+v -0.05510085 0.09934675 0.02951578
+v -0.04702309 0.09579916 0.02298961
+v -0.05487889 0.09115763 0.01183749
+v -0.10313142 0.08717393 0.02512171
+v -0.12799888 0.08926378 0.02951575
+v -0.12799888 0.08840591 0.02795819
+v -0.10937009 0.08719715 0.02503344
+v -0.11281838 0.08723070 0.02488980
+v -0.12799888 0.09004816 0.02176432
+v -0.12799888 0.09009460 0.02158953
+v -0.11343670 0.09194585 0.01183750
+v -0.05945286 0.09955187 0.02951579
+v -0.05487889 0.09535285 0.01183751
+v -0.10937009 0.09758333 0.01183752
+v -0.10937009 0.10035169 0.02951579
+v -0.12799888 0.09810959 0.02951578
+v -0.11281838 0.08723070 0.02490884
+v -0.12799888 0.09619134 0.02159993
+v -0.11343670 0.09492714 0.01183751
+v -0.11097137 0.09657968 0.01183751
+v -0.12799888 0.09834182 0.02788727
+v -0.12799888 0.09849146 0.02833896
+f 1 2 5
+f 1 5 9
+f 1 9 16
+f 1 16 30
+f 1 30 27
+f 1 27 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 29
+f 1 29 40
+f 1 40 43
+f 1 43 44
+f 1 44 33
+f 1 33 19
+f 1 19 10
+f 1 10 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 5 6 10
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 9
+f 7 14 15
+f 7 15 8
+f 9 13 16
+f 10 17 18
+f 10 18 11
+f 10 19 20
+f 10 20 17
+f 11 18 12
+f 12 18 21
+f 12 21 22
+f 12 22 13
+f 13 23 16
+f 13 22 24
+f 13 24 25
+f 13 25 26
+f 13 26 39
+f 13 39 47
+f 13 47 48
+f 13 48 42
+f 13 42 28
+f 13 28 41
+f 13 41 31
+f 13 31 23
+f 14 27 28
+f 14 28 29
+f 14 29 15
+f 16 23 31
+f 16 31 41
+f 16 41 30
+f 17 20 32
+f 17 32 21
+f 17 21 18
+f 19 33 34
+f 19 34 20
+f 20 34 35
+f 20 35 32
+f 21 32 24
+f 21 24 22
+f 24 32 35
+f 24 35 25
+f 25 35 45
+f 25 45 36
+f 25 36 26
+f 26 36 34
+f 26 34 37
+f 26 37 38
+f 26 38 39
+f 27 30 28
+f 28 40 29
+f 28 30 41
+f 28 42 43
+f 28 43 40
+f 33 44 50
+f 33 50 49
+f 33 49 46
+f 33 46 38
+f 33 38 37
+f 33 37 34
+f 34 36 45
+f 34 45 35
+f 38 46 47
+f 38 47 39
+f 42 48 46
+f 42 46 49
+f 42 49 50
+f 42 50 43
+f 43 50 44
+f 46 48 47
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_6.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b575f5b4d593b558b6db82fca298c9bfea0d3896
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_6.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.12709609 0.10503383 0.05563615
+v 0.12709609 0.10195571 0.05491046
+v 0.12709609 0.10591868 0.05563615
+v 0.12152774 0.10512796 0.05561959
+v -0.12183125 0.10262170 0.05377645
+v -0.11561369 0.10262170 0.05381232
+v 0.12709609 0.10145916 0.05457108
+v -0.12799888 0.09701378 0.05183397
+v -0.12183125 0.09701143 0.05185604
+v -0.11561369 0.09701143 0.05186983
+v -0.10937115 0.09701143 0.05188087
+v -0.09688608 0.09701613 0.05189743
+v -0.07191594 0.09704908 0.05191398
+v -0.03448570 0.09710321 0.05193882
+v -0.02824316 0.09712674 0.05194158
+v 0.12709609 0.10865322 0.05298183
+v 0.12152774 0.10589280 0.05561959
+v 0.11528521 0.10525740 0.05559752
+v -0.12183125 0.10737773 0.05130700
+v -0.12799888 0.10262170 0.05364952
+v -0.12799888 0.09710321 0.05186432
+v 0.09770623 0.10561510 0.05552854
+v 0.09770623 0.10572806 0.05552854
+v 0.12709609 0.09757623 0.05185052
+v -0.12799888 0.09412865 0.04627421
+v -0.12799888 0.09395215 0.04592655
+v -0.03448570 0.09426985 0.04632663
+v 0.12709609 0.10899681 0.05264521
+v 0.10904267 0.10581042 0.05557269
+v 0.11528521 0.10585278 0.05559752
+v -0.12799888 0.10926040 0.04632668
+v -0.12799888 0.10729537 0.05120491
+v 0.12709609 0.11196669 0.04958253
+v 0.12152774 0.11193374 0.04953286
+v 0.11528521 0.11189844 0.04947216
+v 0.11049094 0.11187256 0.04942250
+v 0.09363610 0.09330501 0.04348467
+v 0.12709609 0.09731030 0.05123798
+v -0.12799888 0.08926443 0.02952045
+v -0.10937115 0.08873964 0.02952045
+v 0.09088938 0.08792541 0.02745382
+v 0.11049094 0.11187256 0.04928177
+v -0.12183125 0.10932394 0.04632668
+v -0.12799888 0.10766488 0.04087730
+v 0.12709609 0.11196669 0.04872718
+v 0.12152774 0.08827134 0.02796427
+v 0.12152774 0.09523000 0.04632663
+v 0.12709609 0.08849256 0.02796428
+v -0.12799888 0.09811285 0.02952048
+v 0.00266987 0.08897498 0.02745383
+v 0.01542962 0.08864082 0.02745383
+v 0.12152774 0.08826899 0.02745382
+v 0.12709609 0.11141837 0.04600663
+v 0.12709609 0.11134778 0.04566725
+v -0.10937115 0.10035085 0.02952049
+v 0.12152774 0.10008022 0.02745387
+v 0.12569776 0.08843372 0.02745382
+v 0.12709609 0.08849020 0.02745383
+v 0.00266987 0.09751512 0.02745386
+v 0.12709609 0.09889652 0.02745386
+v 0.04042473 0.09941660 0.02745387
+v 0.01542962 0.09888240 0.02745386
+f 1 2 7
+f 1 7 24
+f 1 24 38
+f 1 38 48
+f 1 48 58
+f 1 58 60
+f 1 60 54
+f 1 54 53
+f 1 53 45
+f 1 45 33
+f 1 33 28
+f 1 28 16
+f 1 16 3
+f 1 3 17
+f 1 17 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 11
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 2 14 15
+f 2 15 7
+f 3 16 17
+f 4 17 30
+f 4 30 18
+f 4 18 5
+f 5 19 20
+f 5 20 21
+f 5 21 8
+f 5 8 6
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+f 23 30 29
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+f 24 37 38
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+f 26 37 27
+f 31 36 42
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+f 33 45 42
+f 33 42 36
+f 33 36 34
+f 34 36 35
+f 37 41 46
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+f 38 46 48
+f 39 49 59
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+f 40 51 41
+f 41 51 50
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+f 41 59 62
+f 41 62 61
+f 41 61 56
+f 41 56 60
+f 41 60 58
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+f 41 57 52
+f 41 52 46
+f 42 45 43
+f 43 45 53
+f 43 53 54
+f 43 54 44
+f 44 55 49
+f 44 54 56
+f 44 56 55
+f 46 52 57
+f 46 57 48
+f 48 57 58
+f 49 55 59
+f 54 60 56
+f 55 56 61
+f 55 61 62
+f 55 62 59
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_60.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bf75e5ff17085294b6c864416cf193d8f325239
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_60.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.15160599 -0.03058077 -0.02853072
+v -0.15209925 -0.03081567 -0.02853072
+v -0.15306320 -0.03109513 -0.02102700
+v -0.15306320 -0.03098176 -0.01490345
+v -0.15306320 -0.03088864 -0.00878337
+v -0.15306320 -0.03082791 -0.00265981
+v -0.15306320 -0.03083198 0.00346375
+v -0.15306320 -0.03086845 0.00707445
+v -0.14857463 -0.03140290 -0.02853073
+v -0.15613261 -0.03381664 -0.02853073
+v -0.15726003 -0.03396246 -0.02102701
+v -0.15743479 -0.03371544 -0.01490346
+v -0.15759826 -0.03350487 -0.00878338
+v -0.15776033 -0.03332264 -0.00265982
+v -0.15806614 -0.03309994 0.00707444
+v -0.15607060 -0.03214011 0.00707444
+v -0.15122831 -0.03198622 0.00707444
+v -0.14762477 -0.03234653 -0.02853073
+v -0.14868032 -0.03365882 0.00707444
+v -0.15688375 -0.03450917 -0.02853074
+v -0.15698522 -0.03433503 -0.02715058
+v -0.15874119 -0.05743576 0.00707435
+v -0.14772201 -0.03302288 -0.02102701
+v -0.14434397 -0.07195046 -0.02853087
+v -0.14823218 -0.05743576 0.00707435
+v -0.15688375 -0.03719020 -0.02853075
+v -0.15698522 -0.03735625 -0.02715059
+v -0.15673719 -0.06133973 -0.02715068
+v -0.15699650 -0.06161919 -0.02102712
+v -0.15720085 -0.06179742 -0.01490357
+v -0.15739110 -0.06195538 -0.00878349
+v -0.15788153 -0.06231588 0.00707433
+v -0.14785871 -0.07195058 0.00410139
+v -0.15080693 -0.07195046 -0.02853087
+v -0.14866201 -0.06208504 0.00707433
+v -0.15665686 -0.06122633 -0.02853083
+v -0.15757713 -0.06210120 -0.00265993
+v -0.15306320 -0.06388724 0.00707433
+v -0.15083512 -0.07195046 -0.02661050
+v -0.15084357 -0.07195048 -0.02052877
+v -0.15084076 -0.07195051 -0.01445052
+v -0.15080834 -0.07195053 -0.00840363
+v -0.15070969 -0.07195055 -0.00243691
+v -0.15055890 -0.07195058 0.00410139
+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 18
+f 1 18 24
+f 1 24 34
+f 1 34 36
+f 1 36 26
+f 1 26 20
+f 1 20 10
+f 1 10 2
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 3
+f 3 13 14
+f 3 14 15
+f 3 15 4
+f 4 15 5
+f 5 15 16
+f 5 16 6
+f 6 16 7
+f 7 16 8
+f 8 16 15
+f 8 15 22
+f 8 22 32
+f 8 32 38
+f 8 38 35
+f 8 35 25
+f 8 25 19
+f 8 19 17
+f 8 17 9
+f 9 17 19
+f 9 19 18
+f 10 20 21
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+f 11 21 22
+f 11 22 12
+f 12 22 15
+f 12 15 13
+f 13 15 14
+f 18 19 23
+f 18 23 24
+f 19 25 24
+f 19 24 23
+f 20 26 27
+f 20 27 21
+f 21 27 22
+f 22 27 28
+f 22 28 29
+f 22 29 30
+f 22 30 31
+f 22 31 32
+f 24 25 33
+f 24 33 44
+f 24 44 43
+f 24 43 42
+f 24 42 41
+f 24 41 40
+f 24 40 39
+f 24 39 34
+f 25 35 33
+f 26 36 27
+f 27 36 28
+f 28 36 34
+f 28 34 29
+f 29 34 30
+f 30 34 31
+f 31 37 32
+f 31 34 37
+f 32 37 34
+f 32 34 39
+f 32 39 40
+f 32 40 41
+f 32 41 42
+f 32 42 43
+f 32 43 44
+f 32 44 38
+f 33 35 38
+f 33 38 44
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_61.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d68ff3d4e15447f801ae364e514c07256138b515
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_61.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.16524931 -0.03321884 -0.03340209
+v 0.16003133 -0.03391995 -0.03340209
+v 0.16172088 -0.02261856 0.00543930
+v 0.16523825 -0.02261856 0.00510355
+v 0.16636904 -0.02261856 0.00526663
+v 0.16855536 -0.02261856 0.00619233
+v 0.16884968 -0.03518614 -0.03340210
+v 0.15925683 -0.03281612 0.00958815
+v 0.16063324 -0.02261858 0.00958819
+v 0.16134911 -0.02261856 0.00665279
+v 0.15971932 -0.03886960 -0.03340211
+v 0.15883859 -0.03896917 0.00958813
+v 0.16936085 -0.02261858 0.00958819
+v 0.16885410 -0.03517568 -0.03327259
+v 0.16884968 -0.03720577 -0.03340211
+v 0.16107471 -0.02261860 0.01499854
+v 0.16074277 -0.02261858 0.01112304
+v 0.15911298 -0.03885409 0.01559804
+v 0.15971490 -0.03896378 -0.03340211
+v 0.15910524 -0.03896919 0.01559804
+v 0.15845134 -0.06359186 0.00958804
+v 0.16916391 -0.02261859 0.01400569
+v 0.16969168 -0.03281612 0.00958815
+v 0.16975363 -0.03896917 0.00958813
+v 0.16885410 -0.03722146 -0.03327260
+v 0.16874346 -0.06135755 -0.03340220
+v 0.16304971 -0.02261860 0.01559810
+v 0.16002027 -0.03270103 0.01559806
+v 0.16009109 -0.03235047 0.01559806
+v 0.15983106 -0.06324114 -0.03340220
+v 0.15911631 -0.06359188 0.01559795
+v 0.16003244 -0.07607063 0.00958799
+v 0.16602825 -0.02261860 0.01559810
+v 0.16909531 -0.03330273 0.01559806
+v 0.16911080 -0.03330796 0.01558846
+v 0.16911080 -0.03377363 0.01559806
+v 0.16911523 -0.03850876 0.01559804
+v 0.16909641 -0.05790972 0.01559797
+v 0.16908314 -0.06311575 0.01559795
+v 0.16968504 -0.06359186 0.00958804
+v 0.16874677 -0.06136279 -0.03327269
+v 0.16922697 -0.07607063 0.00958799
+v 0.16921148 -0.07607062 0.00943451
+v 0.16854983 -0.07607061 0.00620173
+v 0.16523825 -0.06408876 -0.03340221
+v 0.16510548 -0.06407306 -0.03340221
+v 0.16123403 -0.07607061 0.00541991
+v 0.16087555 -0.07607064 0.01418775
+v 0.16048940 -0.06767822 0.01559793
+v 0.16513757 -0.07461611 0.01559791
+v 0.16523825 -0.07607065 0.01546360
+v 0.16888729 -0.07607064 0.01402467
+v 0.16905216 -0.07607064 0.01393354
+v 0.16523825 -0.07607061 0.00510814
+v 0.16143762 -0.07607061 0.00535756
+v 0.16100280 -0.06918509 0.01559793
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 15
+f 1 15 26
+f 1 26 45
+f 1 45 46
+f 1 46 30
+f 1 30 19
+f 1 19 11
+f 1 11 2
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 2 11 12
+f 2 12 8
+f 3 10 9
+f 3 9 17
+f 3 17 16
+f 3 16 27
+f 3 27 33
+f 3 33 22
+f 3 22 13
+f 3 13 6
+f 3 6 5
+f 3 5 4
+f 6 13 7
+f 7 14 25
+f 7 25 15
+f 7 13 14
+f 8 16 17
+f 8 17 9
+f 8 12 18
+f 8 18 16
+f 11 19 12
+f 12 20 18
+f 12 19 21
+f 12 21 20
+f 13 22 23
+f 13 23 14
+f 14 24 25
+f 14 23 24
+f 15 25 26
+f 16 18 28
+f 16 28 29
+f 16 29 27
+f 18 20 31
+f 18 31 49
+f 18 49 56
+f 18 56 50
+f 18 50 39
+f 18 39 38
+f 18 38 37
+f 18 37 36
+f 18 36 34
+f 18 34 33
+f 18 33 27
+f 18 27 29
+f 18 29 28
+f 19 30 21
+f 20 21 31
+f 21 30 32
+f 21 32 31
+f 22 33 34
+f 22 34 35
+f 22 35 24
+f 22 24 23
+f 24 35 36
+f 24 36 37
+f 24 37 38
+f 24 38 39
+f 24 39 40
+f 24 40 25
+f 25 40 41
+f 25 41 26
+f 26 41 42
+f 26 42 43
+f 26 43 44
+f 26 44 45
+f 30 46 47
+f 30 47 32
+f 31 32 48
+f 31 48 49
+f 32 47 55
+f 32 55 54
+f 32 54 44
+f 32 44 43
+f 32 43 42
+f 32 42 53
+f 32 53 52
+f 32 52 51
+f 32 51 48
+f 34 36 35
+f 39 50 51
+f 39 51 52
+f 39 52 53
+f 39 53 40
+f 40 53 42
+f 40 42 41
+f 44 54 45
+f 45 54 55
+f 45 55 47
+f 45 47 46
+f 48 51 56
+f 48 56 49
+f 50 56 51
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_62.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17578236cec6f8bd4598c50acb6024b763e03308
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_62.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.13502894 -0.03281371 -0.04656689
+v -0.13525573 -0.01692419 -0.04656683
+v -0.14434485 -0.07195046 -0.02853263
+v -0.13572646 -0.07195039 -0.04600908
+v -0.13546970 -0.07195039 -0.04656703
+v -0.14608221 -0.01692419 -0.04656683
+v -0.13552533 -0.01692419 -0.04608304
+v -0.15080435 -0.07195046 -0.02853263
+v -0.14762274 -0.03234517 -0.02853249
+v -0.14707714 -0.07195039 -0.04656703
+v -0.14609719 -0.01692419 -0.04590824
+v -0.15163025 -0.03265212 -0.04656689
+v -0.15624755 -0.03573850 -0.03670748
+v -0.15653854 -0.03511908 -0.03327682
+v -0.15688515 -0.03451046 -0.02853250
+v -0.14026031 -0.01692420 -0.04391658
+v -0.14857273 -0.03140257 -0.02853249
+v -0.15074230 -0.07195044 -0.03276491
+v -0.15665622 -0.06122638 -0.02853259
+v -0.14869897 -0.07195040 -0.04318757
+v -0.15153825 -0.06209889 -0.04656700
+v -0.15613200 -0.03382101 -0.02853249
+v -0.15209882 -0.03081547 -0.02853248
+v -0.15160457 -0.03057847 -0.02853248
+v -0.15186775 -0.03746206 -0.04656691
+v -0.15205175 -0.05743437 -0.04656698
+v -0.15624755 -0.03604551 -0.03670748
+v -0.15653854 -0.03662186 -0.03327682
+v -0.15688515 -0.03719282 -0.02853251
+v -0.15072091 -0.07195044 -0.03327695
+v -0.15645295 -0.06094089 -0.03204448
+v -0.15038927 -0.07195042 -0.03731323
+v -0.15011753 -0.07195042 -0.03829494
+v -0.15244972 -0.05743437 -0.04552348
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 21
+f 1 21 26
+f 1 26 25
+f 1 25 12
+f 1 12 6
+f 1 6 2
+f 2 6 11
+f 2 11 16
+f 2 16 7
+f 2 7 3
+f 3 8 18
+f 3 18 30
+f 3 30 32
+f 3 32 33
+f 3 33 20
+f 3 20 10
+f 3 10 5
+f 3 5 4
+f 3 7 9
+f 3 9 17
+f 3 17 24
+f 3 24 23
+f 3 23 22
+f 3 22 15
+f 3 15 29
+f 3 29 19
+f 3 19 8
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 11
+f 7 16 17
+f 7 17 9
+f 8 19 18
+f 10 20 21
+f 11 15 22
+f 11 22 23
+f 11 23 24
+f 11 24 16
+f 12 25 13
+f 13 25 26
+f 13 26 27
+f 13 27 28
+f 13 28 14
+f 14 28 29
+f 14 29 15
+f 16 24 17
+f 18 19 30
+f 19 31 32
+f 19 32 30
+f 19 29 31
+f 20 33 31
+f 20 31 21
+f 21 31 34
+f 21 34 26
+f 26 34 27
+f 27 34 31
+f 27 31 28
+f 28 31 29
+f 31 33 32
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_63.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd3a5abc61513b0ca962550460e42d74fb6fefad
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_63.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.16210457 -0.09232890 0.04632961
+v 0.16210457 -0.09281854 0.04763004
+v 0.16210457 -0.09472645 0.04130183
+v 0.15287788 -0.09490542 0.03751434
+v 0.14651130 -0.09396327 0.03751434
+v 0.12779474 -0.09351077 0.03751435
+v 0.12256989 -0.09452386 0.04632960
+v 0.12256989 -0.09574630 0.05041294
+v 0.12256989 -0.09601815 0.05120945
+v 0.16210457 -0.09468766 0.05187754
+v 0.16210457 -0.10053127 0.03931215
+v 0.15455756 -0.10047555 0.03751432
+v 0.12256989 -0.09489022 0.03751434
+v 0.12256989 -0.09449347 0.04532990
+v 0.12256989 -0.10053133 0.05396633
+v 0.16210457 -0.09715952 0.05307555
+v 0.16210457 -0.10570464 0.04124327
+v 0.15212318 -0.10541422 0.03751430
+v 0.12256989 -0.10153420 0.03751432
+v 0.12256989 -0.10656409 0.05214734
+v 0.14651130 -0.10053133 0.05407199
+v 0.16210457 -0.10053133 0.05402160
+v 0.15899675 -0.10053133 0.05411750
+v 0.16210457 -0.10784728 0.04632955
+v 0.15899675 -0.10860369 0.04632955
+v 0.15899675 -0.10607946 0.04092954
+v 0.15275403 -0.10918957 0.04632955
+v 0.14651130 -0.10946480 0.04632955
+v 0.14649582 -0.10552228 0.03751430
+v 0.12691618 -0.10504445 0.03751430
+v 0.12256989 -0.10653872 0.04026470
+v 0.12256989 -0.10954246 0.04632955
+v 0.12779474 -0.10956103 0.04632955
+v 0.13403360 -0.10957792 0.04632955
+v 0.12779474 -0.10657253 0.05215384
+v 0.16210457 -0.10333918 0.05289835
+v 0.15275403 -0.10643915 0.05209370
+v 0.13403360 -0.10657928 0.05216197
+v 0.14027632 -0.10658266 0.05217010
+v 0.14651130 -0.10657253 0.05217823
+v 0.16210457 -0.10699125 0.04880525
+v 0.16210457 -0.10575196 0.05158816
+v 0.15899675 -0.10613016 0.05188076
+v 0.14027632 -0.10955935 0.04632955
+v 0.12811597 -0.10545811 0.03751430
+f 1 2 10
+f 1 10 16
+f 1 16 22
+f 1 22 36
+f 1 36 42
+f 1 42 41
+f 1 41 24
+f 1 24 17
+f 1 17 11
+f 1 11 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 10
+f 3 11 4
+f 4 11 12
+f 4 12 18
+f 4 18 29
+f 4 29 45
+f 4 45 30
+f 4 30 19
+f 4 19 13
+f 4 13 6
+f 4 6 5
+f 6 13 14
+f 6 14 7
+f 7 14 13
+f 7 13 19
+f 7 19 31
+f 7 31 32
+f 7 32 20
+f 7 20 15
+f 7 15 9
+f 7 9 8
+f 9 15 10
+f 10 15 16
+f 11 17 18
+f 11 18 12
+f 15 20 21
+f 15 21 16
+f 16 21 23
+f 16 23 22
+f 17 24 25
+f 17 25 26
+f 17 26 18
+f 18 27 28
+f 18 28 29
+f 18 26 25
+f 18 25 27
+f 19 30 31
+f 20 32 33
+f 20 33 34
+f 20 34 35
+f 20 35 23
+f 20 23 21
+f 22 23 37
+f 22 37 36
+f 23 35 38
+f 23 38 39
+f 23 39 40
+f 23 40 37
+f 24 41 25
+f 25 41 42
+f 25 42 43
+f 25 43 27
+f 27 37 28
+f 27 43 37
+f 28 44 29
+f 28 37 40
+f 28 40 44
+f 29 44 34
+f 29 34 33
+f 29 33 45
+f 30 45 31
+f 31 45 32
+f 32 45 33
+f 34 44 40
+f 34 40 39
+f 34 39 38
+f 34 38 35
+f 36 37 43
+f 36 43 42
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_64.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dee6335e204ee52c7de027eecb11528e443e5c77
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_64.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.10901500 -0.09398984 -0.04587323
+v -0.10849305 -0.08890108 -0.04587321
+v -0.10891769 -0.09439077 -0.04587323
+v -0.10894128 -0.09437281 -0.04552399
+v -0.10752285 -0.09357331 -0.00750941
+v -0.10752285 -0.08933024 -0.00750940
+v -0.10790031 -0.08870341 -0.04587321
+v -0.10313193 -0.08747938 -0.00750939
+v -0.10690949 -0.09763428 -0.04587324
+v -0.10680922 -0.09782184 -0.04552400
+v -0.10681806 -0.09786006 -0.03939916
+v -0.10313193 -0.09572515 -0.00750942
+v -0.10655266 -0.09767814 -0.03327432
+v -0.10635804 -0.09753215 -0.02921488
+v -0.10313193 -0.08776675 -0.04587320
+v -0.08441225 -0.08862943 -0.00750940
+v -0.08454790 -0.08638871 -0.04587320
+v -0.10678267 -0.09780275 -0.04587324
+v -0.10501038 -0.09782184 -0.04552400
+v -0.10455625 -0.09786006 -0.03939916
+v -0.08209736 -0.09768384 -0.00750943
+v -0.07925461 -0.08934035 -0.00750940
+v -0.07973823 -0.08800260 -0.04587320
+v -0.10507231 -0.09780275 -0.04587324
+v -0.08125102 -0.09747931 -0.04324831
+v -0.08120383 -0.09751077 -0.03939916
+v -0.08104755 -0.09761192 -0.02103215
+v -0.08099151 -0.09764451 -0.01490731
+v -0.08093843 -0.09767710 -0.00878247
+v -0.08092664 -0.09768384 -0.00750943
+v -0.07888894 -0.09437295 -0.00750942
+v -0.07939910 -0.08927626 -0.02715321
+v -0.07950821 -0.08923691 -0.03939913
+v -0.07972938 -0.08826541 -0.04587320
+v -0.08399056 -0.09658980 -0.04587323
+v -0.07941974 -0.09437284 -0.03939915
+v -0.07920742 -0.09437288 -0.02715323
+v -0.07983554 -0.09485349 -0.04587323
+v -0.07986503 -0.09494109 -0.04538129
+v -0.08049315 -0.09699089 -0.00750943
+f 1 2 7
+f 1 7 15
+f 1 15 17
+f 1 17 23
+f 1 23 34
+f 1 34 38
+f 1 38 35
+f 1 35 24
+f 1 24 18
+f 1 18 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 7
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 5
+f 5 12 21
+f 5 21 30
+f 5 30 40
+f 5 40 31
+f 5 31 22
+f 5 22 16
+f 5 16 8
+f 5 8 6
+f 5 11 13
+f 5 13 14
+f 5 14 12
+f 7 8 15
+f 8 16 17
+f 8 17 15
+f 9 18 10
+f 10 18 24
+f 10 24 19
+f 10 19 20
+f 10 20 11
+f 11 20 30
+f 11 30 21
+f 11 21 13
+f 12 14 21
+f 13 21 14
+f 16 22 17
+f 17 22 23
+f 19 24 25
+f 19 25 26
+f 19 26 20
+f 20 26 27
+f 20 27 28
+f 20 28 29
+f 20 29 30
+f 22 31 32
+f 22 32 23
+f 23 33 34
+f 23 32 33
+f 24 35 25
+f 25 36 37
+f 25 37 26
+f 25 35 38
+f 25 38 39
+f 25 39 36
+f 26 37 31
+f 26 31 40
+f 26 40 30
+f 26 30 28
+f 26 28 27
+f 28 30 29
+f 31 37 33
+f 31 33 32
+f 33 36 34
+f 33 37 36
+f 34 36 38
+f 36 39 38
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_65.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac5b090f201d87833ca6d166b5988a9313a63f83
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_65.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v 0.15441353 0.10985628 0.04633166
+v 0.15441353 0.10936759 0.04512026
+v 0.15441353 0.10799099 0.05197995
+v 0.15899782 0.10754064 0.05167547
+v 0.15899782 0.10902904 0.04633166
+v 0.15899782 0.10718935 0.04175961
+v 0.15441353 0.10756304 0.04149911
+v 0.15441353 0.10219716 0.05498074
+v 0.15899782 0.10287428 0.05473813
+v 0.16547622 0.10217480 0.05389309
+v 0.16524070 0.10645470 0.05045593
+v 0.16847161 0.10576481 0.04949202
+v 0.16570842 0.10676773 0.04651238
+v 0.16810008 0.10554446 0.04459271
+v 0.16394038 0.10647390 0.04244835
+v 0.15441353 0.10260605 0.03895744
+v 0.16570842 0.10314262 0.04117344
+v 0.15441353 0.10098027 0.05524776
+v 0.15899782 0.09979851 0.05557503
+v 0.16354896 0.09982726 0.05558968
+v 0.17147695 0.09646722 0.05441734
+v 0.17092298 0.10242714 0.05116908
+v 0.16847161 0.10576481 0.04867303
+v 0.17535800 0.10024568 0.05025075
+v 0.17551391 0.10038622 0.04633163
+v 0.17092298 0.10381652 0.04651237
+v 0.17505946 0.09996144 0.04285213
+v 0.17147695 0.10128055 0.04197940
+v 0.15441353 0.10079189 0.03938565
+v 0.17147695 0.09646727 0.03996690
+v 0.17771981 0.08415782 0.03959889
+v 0.17771981 0.07723015 0.03996846
+v 0.15441353 0.10095153 0.05524776
+v 0.15581005 0.09960049 0.05552129
+v 0.15899782 0.09932901 0.05557502
+v 0.16354896 0.09927151 0.05558967
+v 0.17479409 0.08756890 0.05554567
+v 0.17721229 0.08989728 0.05444663
+v 0.17755064 0.09627561 0.05150283
+v 0.18144828 0.09410053 0.05017746
+v 0.17863535 0.09741586 0.04633162
+v 0.18128906 0.09394086 0.04280326
+v 0.17737151 0.09618301 0.04193379
+v 0.15441353 0.09658546 0.04046188
+v 0.17771981 0.09031255 0.04007760
+v 0.18395937 0.07799989 0.04088516
+v 0.18395937 0.07723015 0.04084607
+v 0.17850266 0.07723015 0.04001079
+v 0.17359660 0.07723015 0.04167972
+v 0.15441353 0.09844108 0.05402658
+v 0.15581005 0.09953022 0.05552129
+v 0.17450218 0.08705148 0.05554567
+v 0.17479409 0.08705148 0.05554567
+v 0.17964376 0.07723010 0.05527860
+v 0.18199562 0.07723010 0.05496761
+v 0.18346843 0.07834160 0.05400534
+v 0.18253963 0.09031251 0.05124229
+v 0.18736609 0.08193161 0.04987293
+v 0.18387313 0.09031253 0.04633159
+v 0.18163405 0.09433690 0.04633161
+v 0.18716706 0.08131520 0.04316630
+v 0.18217475 0.09031255 0.04207705
+v 0.15441353 0.09555380 0.04273162
+v 0.17306917 0.07723015 0.04191907
+v 0.18413518 0.08368192 0.04172534
+v 0.18746559 0.07799988 0.04284065
+v 0.18444368 0.07723015 0.04108542
+v 0.15441353 0.09724336 0.05282170
+v 0.17263794 0.07723011 0.05153695
+v 0.17802167 0.07723010 0.05472012
+v 0.17855906 0.07723010 0.05494807
+v 0.18363429 0.07723010 0.05404604
+v 0.18782053 0.07799985 0.05058120
+v 0.18433089 0.08405238 0.05190170
+v 0.18735946 0.08189648 0.04633156
+v 0.18620177 0.08497545 0.04633157
+v 0.18820201 0.07799987 0.04633155
+v 0.18829821 0.07723013 0.04633154
+v 0.15441353 0.09446146 0.04633161
+v 0.17110874 0.07723013 0.04633154
+v 0.18750871 0.07723014 0.04279505
+v 0.15441353 0.09514176 0.04809008
+v 0.17124474 0.07723013 0.04695026
+v 0.18739593 0.07723011 0.05104034
+v 0.18787028 0.07723011 0.05065609
+v 0.18796318 0.07723012 0.05004713
+f 1 2 7
+f 1 7 16
+f 1 16 29
+f 1 29 44
+f 1 44 63
+f 1 63 79
+f 1 79 82
+f 1 82 68
+f 1 68 50
+f 1 50 33
+f 1 33 18
+f 1 18 8
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+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_66.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db2a0831fe9187640351156435660368b788c83e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_66.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.05106037 0.05426009 -0.05104342
+v -0.05106037 0.05426008 -0.04845541
+v -0.04787147 0.05426009 -0.05303952
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+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_67.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd7133054781d2ad49bce5c57b497b2b5814506e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_67.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.00268495 0.03237518 -0.05174546
+v 0.00268495 0.03237518 -0.05062363
+v 0.00299806 0.03237518 -0.05173689
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+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_68.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33feca138b22e24c167cc3476a410984632069b6
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_68.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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+f 65 78 79
+f 65 79 66
+f 66 79 73
+f 67 77 68
+f 71 74 72
+f 72 74 76
+f 73 79 75
+f 75 79 78
+f 75 78 80
+f 75 80 76
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_69.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3706720634b99431df9df11cf207024706d9652b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_69.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.08357597 0.09031237 -0.03329770
+v -0.08497905 0.09519162 -0.03329768
+v -0.08613091 0.08652124 -0.03329771
+v -0.07937146 0.08601678 -0.04102131
+v -0.07937146 0.08974113 -0.04086531
+v -0.07937146 0.09164659 -0.04387721
+v -0.07937146 0.09224879 -0.04552195
+v -0.08518762 0.09489240 -0.03940178
+v -0.09065300 0.09534252 -0.04552194
+v -0.11475662 0.09522006 -0.03329768
+v -0.08615461 0.08652001 -0.03329771
+v -0.07937146 0.08271037 -0.04411582
+v -0.07937146 0.09189268 -0.04987121
+v -0.08544358 0.09432364 -0.04552194
+v -0.08644375 0.09375115 -0.04927479
+v -0.09065300 0.09418145 -0.04999048
+v -0.11419728 0.09371777 -0.04928856
+v -0.11601276 0.09418886 -0.04570774
+v -0.11594165 0.09468221 -0.03969999
+v -0.11477558 0.09522006 -0.03329768
+v -0.09067196 0.08271037 -0.04306291
+v -0.11062322 0.08629991 -0.03329771
+v -0.07937146 0.08271042 -0.05608546
+v -0.07937146 0.09162437 -0.05160770
+v -0.07937146 0.08951737 -0.05506923
+v -0.09065300 0.09222407 -0.05305057
+v -0.11601276 0.09231805 -0.05145630
+v -0.12779675 0.09210908 -0.05110534
+v -0.12779675 0.09212021 -0.05108698
+v -0.12779675 0.09214123 -0.05104799
+v -0.12779675 0.09315143 -0.04552195
+v -0.12779675 0.09309949 -0.04470073
+v -0.12779675 0.09061658 -0.04123005
+v -0.11646781 0.09031113 -0.03329770
+v -0.11418781 0.08629991 -0.03329771
+v -0.11564303 0.08271037 -0.04316843
+v -0.07937146 0.08415590 -0.05653735
+v -0.09065300 0.08271042 -0.05626668
+v -0.07937146 0.08890531 -0.05593403
+v -0.09065300 0.08914520 -0.05599597
+v -0.09689576 0.08916869 -0.05607855
+v -0.10937183 0.08905988 -0.05603955
+v -0.11561459 0.08903267 -0.05598450
+v -0.12779675 0.08873591 -0.05581704
+v -0.12779675 0.08616640 -0.04103966
+v -0.12779675 0.08593393 -0.04103966
+v -0.12779675 0.08271037 -0.04392084
+v -0.07937146 0.08507586 -0.05642495
+v -0.09503764 0.08271042 -0.05632403
+v -0.09689576 0.08415590 -0.05673004
+v -0.11561459 0.08415590 -0.05660387
+v -0.12185736 0.08887317 -0.05590421
+v -0.12779675 0.08850716 -0.05584457
+v -0.12779675 0.08271042 -0.05593865
+v -0.09689576 0.08271042 -0.05631944
+v -0.11576154 0.08271042 -0.05626668
+v -0.12170093 0.08271042 -0.05614510
+v -0.12185736 0.08415590 -0.05647312
+v -0.12779675 0.08415590 -0.05634237
+v -0.12779675 0.08390118 -0.05628502
+v -0.12637945 0.08271042 -0.05604417
+f 1 2 10
+f 1 10 20
+f 1 20 34
+f 1 34 35
+f 1 35 22
+f 1 22 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 3 11 12
+f 3 12 4
+f 4 12 23
+f 4 23 37
+f 4 37 48
+f 4 48 39
+f 4 39 25
+f 4 25 24
+f 4 24 13
+f 4 13 7
+f 4 7 6
+f 4 6 5
+f 7 13 8
+f 8 13 14
+f 8 14 9
+f 9 14 15
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 11 21 12
+f 11 22 21
+f 12 21 36
+f 12 36 47
+f 12 47 54
+f 12 54 61
+f 12 61 57
+f 12 57 56
+f 12 56 55
+f 12 55 49
+f 12 49 38
+f 12 38 23
+f 13 24 14
+f 14 24 15
+f 15 24 16
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 16 28 29
+f 16 29 17
+f 17 29 30
+f 17 30 31
+f 17 31 18
+f 18 31 19
+f 19 31 20
+f 20 31 32
+f 20 32 33
+f 20 33 34
+f 21 22 35
+f 21 35 36
+f 23 38 37
+f 25 39 26
+f 26 39 40
+f 26 40 41
+f 26 41 42
+f 26 42 43
+f 26 43 44
+f 26 44 28
+f 26 28 27
+f 28 44 53
+f 28 53 59
+f 28 59 60
+f 28 60 54
+f 28 54 47
+f 28 47 46
+f 28 46 45
+f 28 45 33
+f 28 33 32
+f 28 32 31
+f 28 31 30
+f 28 30 29
+f 33 45 34
+f 34 45 46
+f 34 46 35
+f 35 46 47
+f 35 47 36
+f 37 38 49
+f 37 49 50
+f 37 50 48
+f 39 48 50
+f 39 50 41
+f 39 41 40
+f 41 50 42
+f 42 51 43
+f 42 50 51
+f 43 51 52
+f 43 52 44
+f 44 52 51
+f 44 51 53
+f 49 55 50
+f 50 55 56
+f 50 56 51
+f 51 56 57
+f 51 57 58
+f 51 58 53
+f 53 58 59
+f 54 60 61
+f 57 61 58
+f 58 61 60
+f 58 60 59
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_7.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36d8bde0fd3d3cf7dffaf02f18d85c26e7487a15
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_7.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.06638262 0.03237518 -0.05151511
+v 0.05438086 0.01451935 -0.06124789
+v 0.05438086 0.01733507 -0.05855156
+v 0.05438086 0.01781091 -0.05797913
+v 0.06638262 0.03237517 -0.05021075
+v 0.06803410 0.03237518 -0.05235185
+v 0.05438086 0.01265861 -0.06124789
+v 0.07155063 0.03237519 -0.05385015
+v 0.07162181 0.03237519 -0.05386266
+v 0.06538602 0.01453576 -0.06124320
+v 0.05438086 0.01708563 -0.05156366
+v 0.06741479 0.03237516 -0.04750036
+v 0.05438086 0.00979037 -0.05748337
+v 0.06538602 0.01266845 -0.06124320
+v 0.07162181 -0.00114763 -0.05557691
+v 0.06597686 -0.00114764 -0.05216742
+v 0.10906499 0.03237519 -0.05373128
+v 0.07162181 0.01449638 -0.06122912
+v 0.05438086 0.01704953 -0.05149484
+v 0.07162181 0.01643582 -0.04625704
+v 0.07162181 0.03237516 -0.04640244
+v 0.05438086 0.01695764 -0.05149328
+v 0.06721547 0.01643582 -0.04743942
+v 0.05438086 0.01023338 -0.05175605
+v 0.07162181 0.01269471 -0.06122912
+v 0.07645526 0.01293099 -0.06108836
+v 0.12709609 -0.00114764 -0.05273827
+v 0.06750733 -0.00114766 -0.04753957
+v 0.12709609 0.03237519 -0.05360773
+v 0.07645526 0.01408616 -0.06108836
+v 0.07162181 0.01028259 -0.04623986
+v 0.09035052 0.01028259 -0.04562990
+v 0.09035052 0.03237516 -0.04598016
+v 0.06725819 0.01028259 -0.04745664
+v 0.12709609 0.01643586 -0.05615240
+v 0.12709609 0.01196944 -0.05603512
+v 0.12709609 0.01140498 -0.05601479
+v 0.12709609 -0.00114766 -0.04550639
+v 0.06809817 -0.00114766 -0.04736597
+v 0.12709609 0.03237516 -0.04527167
+v 0.07162181 0.00412607 -0.04627898
+v 0.09035052 -0.00114766 -0.04564089
+v 0.09035052 0.00412607 -0.04562680
+v 0.07162181 -0.00114766 -0.04633999
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 21
+f 1 21 33
+f 1 33 40
+f 1 40 29
+f 1 29 17
+f 1 17 9
+f 1 9 8
+f 1 8 6
+f 1 6 2
+f 2 7 13
+f 2 13 24
+f 2 24 22
+f 2 22 19
+f 2 19 11
+f 2 11 4
+f 2 4 3
+f 2 6 8
+f 2 8 9
+f 2 9 10
+f 2 10 14
+f 2 14 7
+f 4 11 5
+f 5 11 12
+f 7 14 15
+f 7 15 16
+f 7 16 13
+f 9 17 10
+f 10 17 18
+f 10 18 25
+f 10 25 14
+f 11 19 12
+f 12 20 21
+f 12 19 22
+f 12 22 23
+f 12 23 20
+f 13 16 24
+f 14 25 15
+f 15 25 26
+f 15 26 27
+f 15 27 38
+f 15 38 42
+f 15 42 44
+f 15 44 39
+f 15 39 28
+f 15 28 16
+f 16 28 24
+f 17 29 18
+f 18 30 26
+f 18 26 25
+f 18 29 30
+f 20 31 32
+f 20 32 21
+f 20 23 31
+f 21 32 33
+f 22 24 28
+f 22 28 34
+f 22 34 23
+f 23 34 31
+f 26 30 35
+f 26 35 36
+f 26 36 37
+f 26 37 27
+f 27 37 36
+f 27 36 35
+f 27 35 29
+f 27 29 40
+f 27 40 38
+f 28 39 34
+f 29 35 30
+f 31 41 42
+f 31 42 43
+f 31 43 32
+f 31 34 41
+f 32 43 40
+f 32 40 33
+f 34 39 44
+f 34 44 41
+f 38 40 42
+f 40 43 42
+f 41 44 42
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_70.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95928328f2b017d21bc23e083aa2e7e45e7650d4
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_70.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.00268698 0.08971566 0.02951575
+v 0.00268698 0.08888757 0.02795820
+v 0.00268698 0.09732179 0.02951578
+v -0.00315537 0.08902700 0.02951575
+v 0.00268698 0.08889716 0.02768476
+v -0.00327560 0.08840221 0.02795819
+v 0.00268698 0.09769114 0.02819705
+v 0.00113214 0.09808282 0.02951578
+v -0.00793400 0.08916963 0.02951575
+v 0.00268698 0.09078434 0.02156010
+v -0.00327560 0.08862256 0.02183527
+v -0.00327560 0.08977853 0.01183749
+v -0.00951533 0.08858848 0.02795820
+v 0.00268698 0.09766666 0.02797034
+v -0.00369743 0.09918766 0.02951578
+v -0.00951940 0.08924946 0.02951575
+v 0.00268698 0.09094825 0.02126071
+v -0.00183692 0.09083121 0.01183749
+v 0.00032110 0.09267686 0.01183750
+v -0.01813111 0.08913026 0.02795820
+v -0.00677246 0.09016065 0.01183749
+v 0.00268698 0.09583912 0.02173146
+v -0.00327560 0.09642564 0.01183751
+v -0.00508313 0.09927600 0.02951578
+v -0.01416964 0.08963477 0.02951575
+v 0.00268698 0.09565817 0.02126073
+v 0.00032110 0.09397967 0.01183751
+v -0.01813111 0.09007436 0.02951575
+v -0.01813111 0.08976037 0.02598356
+v -0.00881433 0.09049167 0.01183749
+v -0.00881433 0.09583597 0.01183751
+v -0.00769965 0.09921534 0.02951578
+v -0.00547234 0.09927600 0.02951578
+v -0.01813111 0.09645963 0.02951577
+v -0.01813111 0.09081840 0.02285115
+v -0.01813111 0.09576355 0.02285117
+v -0.01813111 0.09734309 0.02795823
+v -0.01813111 0.09700673 0.02855183
+f 1 2 5
+f 1 5 10
+f 1 10 17
+f 1 17 26
+f 1 26 22
+f 1 22 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 24
+f 1 24 33
+f 1 33 32
+f 1 32 34
+f 1 34 28
+f 1 28 25
+f 1 25 16
+f 1 16 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 4 9 6
+f 5 6 11
+f 5 11 12
+f 5 12 10
+f 6 9 13
+f 6 13 11
+f 7 14 15
+f 7 15 8
+f 9 16 13
+f 10 12 18
+f 10 18 19
+f 10 19 17
+f 11 13 20
+f 11 20 12
+f 12 20 21
+f 12 21 30
+f 12 30 31
+f 12 31 23
+f 12 23 27
+f 12 27 19
+f 12 19 18
+f 13 16 20
+f 14 22 23
+f 14 23 15
+f 15 23 24
+f 16 25 20
+f 17 19 27
+f 17 27 26
+f 20 28 34
+f 20 34 38
+f 20 38 37
+f 20 37 36
+f 20 36 35
+f 20 35 29
+f 20 29 30
+f 20 30 21
+f 20 25 28
+f 22 26 27
+f 22 27 23
+f 23 31 32
+f 23 32 33
+f 23 33 24
+f 29 35 30
+f 30 35 36
+f 30 36 31
+f 31 36 37
+f 31 37 32
+f 32 37 38
+f 32 38 34
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_71.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f4ae2ba54ae1b7daf403225e9bd70902de630ac
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_71.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.15960931 0.08219121 -0.03221717
+v -0.15960931 0.08219121 -0.02999777
+v -0.15960931 0.08319121 -0.03221717
+v -0.15960931 0.08319121 -0.02999777
+v -0.15860931 0.08219121 -0.03221717
+v -0.15860931 0.08219121 -0.02999777
+v -0.15860931 0.08319121 -0.03221717
+v -0.15860931 0.08319121 -0.02999777
+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/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_72.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..febb8369b81952e8112018ce9b8c305d4a8ed191
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_72.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.16182548 0.04106243 -0.00108490
+v -0.15921425 0.03653556 -0.00108492
+v -0.16013175 0.04377075 -0.00108489
+v -0.15762759 0.04534283 -0.02715199
+v -0.15740602 0.04520722 -0.03221730
+v -0.15762164 0.04446747 -0.03221731
+v -0.15851981 0.04106255 -0.03221732
+v -0.15729747 0.03703193 -0.03221733
+v -0.15894956 0.03648831 -0.00266059
+v -0.15771235 0.03649857 -0.00108492
+v -0.15905514 0.04543622 -0.00108488
+v -0.15784469 0.04542397 -0.02102609
+v -0.15385351 0.04624801 -0.03221730
+v -0.15306539 0.03593566 -0.03221734
+v -0.15843356 0.03653148 -0.00878345
+v -0.15306539 0.03599831 -0.02715203
+v -0.15387878 0.03649857 -0.00108492
+v -0.15383121 0.04548965 -0.00108488
+v -0.15306539 0.04640005 -0.02715199
+v -0.15879788 0.04548658 -0.00266055
+v -0.15306539 0.04643090 -0.03221730
+v -0.14840950 0.03688912 -0.03221733
+v -0.14970618 0.03773360 -0.01490630
+v -0.14992329 0.03796065 -0.01166658
+v -0.15152482 0.04106243 -0.00108490
+v -0.14882735 0.03701239 -0.02715202
+v -0.14929428 0.03733498 -0.02102612
+v -0.15204974 0.04220391 -0.00108489
+v -0.14989355 0.04419718 -0.01139531
+v -0.14964521 0.04445199 -0.01490628
+v -0.14919019 0.04485991 -0.02102610
+v -0.14867121 0.04519693 -0.02715199
+v -0.14816860 0.04536339 -0.03221730
+v -0.14892847 0.04557196 -0.03221730
+v -0.15306539 0.04614420 -0.02102609
+v -0.14663398 0.04106255 -0.03221732
+v -0.14989058 0.04106247 -0.01137399
+v -0.14682730 0.04177662 -0.03221732
+f 1 2 10
+f 1 10 17
+f 1 17 25
+f 1 25 28
+f 1 28 18
+f 1 18 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 10
+f 2 8 9
+f 3 11 4
+f 4 12 13
+f 4 13 5
+f 4 11 12
+f 5 13 21
+f 5 21 34
+f 5 34 33
+f 5 33 38
+f 5 38 36
+f 5 36 22
+f 5 22 14
+f 5 14 8
+f 5 8 7
+f 5 7 6
+f 8 14 15
+f 8 15 9
+f 9 15 14
+f 9 14 16
+f 9 16 10
+f 10 16 17
+f 11 18 19
+f 11 19 20
+f 11 20 12
+f 12 20 13
+f 13 20 21
+f 14 22 16
+f 16 22 17
+f 17 23 24
+f 17 24 25
+f 17 22 26
+f 17 26 27
+f 17 27 23
+f 18 28 29
+f 18 29 30
+f 18 30 31
+f 18 31 32
+f 18 32 33
+f 18 33 34
+f 18 34 35
+f 18 35 19
+f 19 35 34
+f 19 34 21
+f 19 21 20
+f 22 36 26
+f 23 27 26
+f 23 26 24
+f 24 37 25
+f 24 26 36
+f 24 36 37
+f 25 37 29
+f 25 29 28
+f 29 37 36
+f 29 36 38
+f 29 38 33
+f 29 33 32
+f 29 32 30
+f 30 32 31
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_73.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54a5123364ea86d69e104591cbb5244a4225ea90
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_73.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.17136089 -0.00203208 0.00479384
+v -0.17447941 -0.00203209 0.00695000
+v -0.17431603 0.00034965 0.00700645
+v -0.17119750 0.00034966 0.00494198
+v -0.16623025 -0.00203208 0.00479384
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+v -0.17592501 -0.00819168 0.01094018
+v -0.16640605 0.00034966 0.00494198
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+v -0.15955453 -0.02723755 0.02110253
+v -0.16736683 -0.00645261 0.00557917
+v -0.16966666 -0.01793468 0.01232272
+v -0.17382587 -0.01662230 0.01327501
+v -0.17614879 -0.00203480 0.01001143
+v -0.17613990 0.00034694 0.01007022
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+v -0.16437796 0.00034965 0.00707463
+v -0.17647911 0.00034692 0.01571574
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+v -0.17669754 -0.00819170 0.01571571
+v -0.16310816 -0.00203479 0.00839372
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+v -0.15980495 -0.02723757 0.02688678
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+v -0.16458574 -0.02723754 0.02003032
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+v -0.17070557 -0.02450744 0.01789533
+v -0.16679499 0.00034691 0.02018796
+v -0.16367646 0.00034692 0.01634355
+v -0.17690355 -0.02149925 0.02881018
+v -0.17657855 -0.02027598 0.02881019
+v -0.17158821 -0.01660885 0.02881020
+v -0.17026337 -0.01677088 0.02881020
+v -0.17249748 -0.02723755 0.02134941
+v -0.17288641 -0.02723755 0.02161511
+v -0.17528390 -0.02723756 0.02379479
+v -0.16062542 -0.02723758 0.02881016
+v -0.16023294 -0.02723757 0.02792136
+v -0.16523750 -0.02030028 0.02881019
+v -0.16433178 -0.02152896 0.02881018
+v -0.16276363 -0.02383509 0.02881017
+v -0.16086161 -0.02683792 0.02881016
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 5
+f 1 5 18
+f 1 18 6
+f 1 6 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 2 6 10
+f 2 10 11
+f 2 11 7
+f 3 9 24
+f 3 24 13
+f 3 13 12
+f 3 12 4
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 6 18 41
+f 6 41 19
+f 6 19 20
+f 6 20 10
+f 7 21 22
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+f 7 23 8
+f 7 11 21
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+f 16 51 50
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+f 17 40 41
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+f 19 29 20
+f 21 34 22
+f 22 34 25
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+f 24 43 44
+f 24 44 39
+f 24 39 38
+f 24 38 36
+f 25 34 33
+f 25 33 45
+f 25 45 26
+f 26 45 46
+f 26 46 27
+f 27 46 28
+f 28 46 47
+f 28 47 48
+f 28 48 43
+f 29 42 49
+f 29 49 50
+f 29 50 51
+f 29 51 31
+f 29 31 30
+f 31 52 57
+f 31 57 56
+f 31 56 55
+f 31 55 54
+f 31 54 48
+f 31 48 47
+f 31 47 46
+f 31 46 45
+f 31 45 33
+f 35 36 38
+f 37 39 53
+f 39 44 52
+f 39 52 53
+f 40 49 42
+f 43 48 54
+f 43 54 55
+f 43 55 56
+f 43 56 57
+f 43 57 52
+f 43 52 44
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_74.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0baf4d616cb62a6380ed0aac682721626efe4bf9
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_74.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.15757385 -0.03251435 0.02881249
+v -0.15781356 -0.03196475 0.02881249
+v -0.15898953 -0.03932797 0.02881247
+v -0.15534598 -0.03896782 0.02615054
+v -0.15510627 -0.03429114 0.02651654
+v -0.14973966 -0.03547905 0.01917122
+v -0.16062517 -0.02724198 0.02881251
+v -0.15490887 -0.04467712 0.02193952
+v -0.15614407 -0.04221077 0.02494829
+v -0.16524448 -0.03948671 0.02881246
+v -0.15948023 -0.04467712 0.02234594
+v -0.14973966 -0.03639732 0.01917122
+v -0.14922640 -0.03455736 0.01571348
+v -0.15980453 -0.02724197 0.02688682
+v -0.16023318 -0.02724197 0.02792307
+v -0.17748927 -0.02724198 0.02881251
+v -0.15453943 -0.04467710 0.01592623
+v -0.14874417 -0.03808022 0.00958953
+v -0.14922640 -0.03731046 0.01571347
+v -0.16837194 -0.03811784 0.02881247
+v -0.17200703 -0.03515138 0.02881248
+v -0.17483275 -0.03282499 0.02881249
+v -0.15781356 -0.04467710 0.01592623
+v -0.14874417 -0.03373465 0.00958955
+v -0.15937306 -0.02724195 0.02130761
+v -0.17528396 -0.02724196 0.02379506
+v -0.17729468 -0.02882762 0.02881250
+v -0.15455636 -0.04467710 0.01589644
+v -0.15319708 -0.04110469 0.00707441
+v -0.14867931 -0.03816213 0.00707442
+v -0.17607077 -0.03083996 0.02881250
+v -0.17476789 -0.02959737 0.02501856
+v -0.15792354 -0.03909406 0.00707442
+v -0.15779664 -0.04467710 0.01589644
+v -0.14867931 -0.03365954 0.00707444
+v -0.15955355 -0.02724195 0.02110333
+v -0.15122866 -0.03198345 0.00707444
+v -0.15306454 -0.03089280 0.00958956
+v -0.15306454 -0.03086719 0.00707445
+v -0.15806736 -0.03309970 0.00707444
+v -0.17288690 -0.02724195 0.02161615
+v -0.16458175 -0.02724194 0.02003090
+v -0.15607356 -0.03213706 0.00707444
+v -0.17249772 -0.02724195 0.02135016
+f 1 2 7
+f 1 7 16
+f 1 16 27
+f 1 27 31
+f 1 31 22
+f 1 22 21
+f 1 21 20
+f 1 20 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 9
+f 3 9 4
+f 3 10 11
+f 3 11 8
+f 4 9 8
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+f 4 12 5
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+f 6 12 19
+f 6 19 13
+f 6 13 14
+f 6 14 15
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+f 7 14 25
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+f 7 41 26
+f 7 26 16
+f 8 17 18
+f 8 18 19
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+f 8 23 34
+f 8 34 28
+f 8 28 17
+f 10 20 11
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+f 11 22 23
+f 13 19 18
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+f 13 24 14
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+f 17 28 29
+f 17 29 30
+f 17 30 18
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+f 18 35 24
+f 22 31 32
+f 22 32 33
+f 22 33 23
+f 23 33 34
+f 24 35 25
+f 25 35 37
+f 25 37 38
+f 25 38 39
+f 25 39 36
+f 26 40 33
+f 26 33 32
+f 26 32 27
+f 26 41 40
+f 27 32 31
+f 28 34 29
+f 29 34 33
+f 29 33 40
+f 29 40 43
+f 29 43 39
+f 29 39 37
+f 29 37 35
+f 29 35 30
+f 36 39 42
+f 37 39 38
+f 39 43 44
+f 39 44 42
+f 40 41 44
+f 40 44 43
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_75.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fda49dd5176db100e16143c7723315ffed278ef2
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_75.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.02076288 0.08584209 -0.03503648
+v 0.01630875 0.08584209 -0.03503648
+v 0.02258476 0.08870583 -0.03503647
+v 0.02149292 0.09044873 0.00790869
+v 0.01864934 0.08719971 -0.00429891
+v 0.01374390 0.09047310 -0.03503647
+v 0.01849151 0.08719971 -0.00429891
+v 0.01568761 0.09044873 0.00790869
+v 0.02317268 0.09041964 -0.03503647
+v 0.02149292 0.09614697 0.00790871
+v 0.01580944 0.09550354 -0.02715028
+v 0.01583990 0.09519491 -0.03503645
+v 0.01568761 0.09614697 0.00790871
+v 0.01570146 0.09607638 0.00346118
+v 0.01572268 0.09596443 -0.00266363
+v 0.02195716 0.09391686 -0.03503646
+v 0.02148462 0.09607638 0.00346118
+v 0.01579744 0.09559632 -0.02255562
+v 0.02128157 0.09550354 -0.02715028
+v 0.01585836 0.09530282 -0.03327089
+v 0.01574760 0.09585651 -0.00878424
+v 0.01577345 0.09574659 -0.01490065
+v 0.01579283 0.09562658 -0.02102547
+v 0.02112559 0.09519491 -0.03503645
+v 0.02116805 0.09530282 -0.03327089
+v 0.02134710 0.09559632 -0.02255562
+v 0.02136925 0.09562658 -0.02102547
+v 0.02143201 0.09574659 -0.01490065
+v 0.02146062 0.09585651 -0.00878424
+f 1 2 6
+f 1 6 12
+f 1 12 24
+f 1 24 16
+f 1 16 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 7
+f 1 7 2
+f 2 7 8
+f 2 8 6
+f 3 9 4
+f 4 10 13
+f 4 13 8
+f 4 8 7
+f 4 7 5
+f 4 9 10
+f 6 11 12
+f 6 8 13
+f 6 13 14
+f 6 14 15
+f 6 15 11
+f 9 16 10
+f 10 17 14
+f 10 14 13
+f 10 16 17
+f 11 18 26
+f 11 26 19
+f 11 19 25
+f 11 25 20
+f 11 20 12
+f 11 15 21
+f 11 21 22
+f 11 22 23
+f 11 23 18
+f 12 20 25
+f 12 25 24
+f 14 17 29
+f 14 29 21
+f 14 21 15
+f 16 24 25
+f 16 25 19
+f 16 19 26
+f 16 26 27
+f 16 27 28
+f 16 28 29
+f 16 29 17
+f 18 23 27
+f 18 27 26
+f 21 29 28
+f 21 28 22
+f 22 28 27
+f 22 27 23
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_76.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e27c40169362a63f0f79da2f4d778502ac1cab6
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_76.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.03951423 0.09044912 -0.03503647
+v 0.04089808 0.09574970 -0.03503645
+v 0.04200005 0.08626228 -0.03503648
+v 0.04096856 0.09041095 0.00790869
+v 0.04096856 0.09590880 0.00790871
+v 0.04094614 0.09575998 -0.03327089
+v 0.06537503 0.09673898 0.00790872
+v 0.06537503 0.09669995 0.00346119
+v 0.06537503 0.09663318 -0.00266363
+v 0.06537503 0.09655821 -0.00878424
+v 0.06537503 0.09647603 -0.01490065
+v 0.06537503 0.09638359 -0.02102547
+v 0.06537503 0.09615658 -0.03503645
+v 0.04516818 0.08625509 -0.03503648
+v 0.04351524 0.08722286 -0.01069276
+v 0.06537503 0.08980064 0.00790869
+v 0.06689343 0.09656225 0.00790871
+v 0.07090405 0.09601057 -0.00878424
+v 0.07089765 0.09597875 -0.01490065
+v 0.07089445 0.09593768 -0.02102547
+v 0.07088483 0.09589249 -0.02715028
+v 0.07088483 0.09584114 -0.03327089
+v 0.07096492 0.09580314 -0.03503645
+v 0.06675889 0.08624276 -0.03503648
+v 0.04356970 0.08722286 -0.01069276
+v 0.07091046 0.09052910 0.00790869
+v 0.06850793 0.08722801 -0.01748597
+v 0.07091046 0.09606805 0.00790871
+v 0.07090726 0.09605985 0.00346118
+v 0.07090726 0.09603727 -0.00266363
+v 0.07165684 0.09438938 -0.03503645
+v 0.06814274 0.08624276 -0.03503648
+v 0.06992062 0.08625817 -0.03503648
+v 0.07161841 0.08880932 -0.03503647
+v 0.07223665 0.09046351 -0.03503647
+f 1 2 13
+f 1 13 23
+f 1 23 31
+f 1 31 35
+f 1 35 34
+f 1 34 33
+f 1 33 32
+f 1 32 24
+f 1 24 14
+f 1 14 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
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+f 4 17 7
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+f 16 25 27
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+f 17 30 18
+f 18 30 23
+f 18 23 19
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+f 23 29 31
+f 25 32 33
+f 25 33 27
+f 26 27 33
+f 26 33 34
+f 26 34 35
+f 26 35 28
+f 28 35 31
+f 28 31 29
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_77.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31e59b101d9110ebb9729c6fa736e53e341da829
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_77.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.16484802 0.03165697 0.03704822
+v -0.16164972 0.03165699 0.03241054
+v -0.16181539 0.03713466 0.03826868
+v -0.16484802 0.03503405 0.04016471
+v -0.16484802 0.03165702 0.02321363
+v -0.16076146 0.03165701 0.02826975
+v -0.15558968 0.03737471 0.02619502
+v -0.16180494 0.04106398 0.03831664
+v -0.16354627 0.04106397 0.04137646
+v -0.16484802 0.04109157 0.04344685
+v -0.15536140 0.04106402 0.02652193
+v -0.16484802 0.03580938 0.02016690
+v -0.16266191 0.03771675 0.00469780
+v -0.15921448 0.03653584 -0.00108187
+v -0.15771447 0.03649973 -0.00108187
+v -0.15387835 0.03649973 -0.00108187
+v -0.15442879 0.03657191 0.00959264
+v -0.15470923 0.03667384 0.01571664
+v -0.15507836 0.03690958 0.02183194
+v -0.15392922 0.04106404 0.02183195
+v -0.15593923 0.05335326 0.02507053
+v -0.16484802 0.04251250 0.04257076
+v -0.15415357 0.04721715 0.02183197
+v -0.15450966 0.05335327 0.02183200
+v -0.16484802 0.03822432 0.01909030
+v -0.16223799 0.04106411 0.00141134
+v -0.16182452 0.04106412 -0.00108185
+v -0.16484802 0.04106405 0.01841035
+v -0.15152397 0.04106412 -0.00108185
+v -0.15314400 0.04106406 0.01571666
+v -0.15894840 0.05335326 0.02508796
+v -0.16484802 0.04542659 0.03941505
+v -0.15450966 0.05335327 0.02181457
+v -0.16251843 0.04424154 0.00561751
+v -0.16484802 0.04327297 0.01957850
+v -0.16013145 0.04377005 -0.00108184
+v -0.16320713 0.05335329 0.01753430
+v -0.15204964 0.04220469 -0.00108184
+v -0.15474966 0.05335329 0.01684998
+v -0.16207234 0.05335326 0.02481337
+v -0.16484802 0.04555615 0.03895739
+v -0.16320844 0.05335327 0.02176226
+v -0.16484802 0.04616153 0.02335316
+v -0.15905536 0.04543523 -0.00108183
+v -0.16320844 0.05335329 0.01755609
+v -0.15930449 0.05335329 0.01561210
+v -0.15383139 0.04548833 -0.00108183
+v -0.16484802 0.04705571 0.02739370
+v -0.16484802 0.04681784 0.02557611
+f 1 2 3
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+f 1 22 32
+f 1 32 41
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+f 21 39 46
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+f 26 34 27
+f 26 28 35
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+f 27 34 37
+f 27 37 36
+f 29 38 39
+f 29 39 33
+f 31 40 32
+f 32 40 42
+f 32 42 41
+f 34 35 37
+f 35 43 37
+f 36 37 44
+f 37 46 44
+f 37 43 45
+f 38 47 39
+f 39 47 46
+f 41 42 48
+f 42 45 48
+f 43 49 45
+f 44 46 47
+f 45 49 48
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_78.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d39d19e524a51721d024ea246c21316e09ea8e3
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_78.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.03072961 0.08632704 -0.03393003
+v -0.03371944 0.08632704 -0.03393003
+v -0.02998340 0.08633792 -0.03393003
+v -0.03135544 0.08723061 0.00663174
+v -0.03429552 0.08685602 -0.03393003
+v -0.03137036 0.08723061 0.00663174
+v -0.03412140 0.08937617 0.01183749
+v -0.03804350 0.09267462 0.01183750
+v -0.02806414 0.08979853 -0.03393002
+v -0.02908595 0.09003962 0.01183749
+v -0.03679981 0.08926757 -0.03393002
+v -0.03804350 0.09397878 0.01183751
+v -0.03797286 0.09229511 -0.03393001
+v -0.03705253 0.08955332 -0.03393002
+v -0.02788007 0.09033640 -0.03393002
+v -0.02879543 0.09031155 0.00346440
+v -0.02880339 0.09583663 0.01183751
+v -0.03591132 0.09551826 0.01183751
+v -0.03776491 0.09356664 -0.03393001
+v -0.02892974 0.09471062 -0.03393000
+v -0.02897153 0.09563601 -0.01490351
+v -0.02893173 0.09568543 -0.00878385
+v -0.02889890 0.09573188 -0.00265971
+v -0.03091766 0.09613425 0.01183751
+v -0.03448058 0.09642692 0.01183751
+v -0.03448058 0.09595043 -0.01490351
+v -0.03448058 0.09582686 -0.02102765
+v -0.03448058 0.09563013 -0.02715178
+v -0.03448058 0.09535231 -0.03393000
+v -0.02921032 0.09517532 -0.03393000
+v -0.02908794 0.09541854 -0.02715178
+v -0.02901730 0.09556090 -0.02102765
+v -0.02921231 0.09520894 -0.03327592
+f 1 2 5
+f 1 5 11
+f 1 11 14
+f 1 14 13
+f 1 13 19
+f 1 19 29
+f 1 29 30
+f 1 30 20
+f 1 20 15
+f 1 15 9
+f 1 9 3
+f 1 3 4
+f 1 4 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 5
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+f 4 7 6
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+f 7 25 18
+f 7 18 12
+f 7 12 8
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+f 9 15 10
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+f 29 33 30
+f 30 33 31
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_79.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fedf52711f73a8143e37827c03ded9f252b8bad
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_79.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.11117719 0.09622430 0.02260240
+v 0.11117719 0.09038394 0.02260238
+v 0.11117719 0.09794300 0.02744031
+v 0.11445571 0.09031300 -0.03503035
+v 0.11117719 0.08892110 0.02744028
+v 0.11915378 0.09987929 0.02744032
+v 0.11578020 0.09535146 -0.03503033
+v 0.11678527 0.08611473 -0.03503036
+v 0.12154878 0.08826564 0.02744027
+v 0.12154878 0.10008318 0.02744032
+v 0.11608095 0.09551157 -0.03326888
+v 0.11754880 0.09544178 -0.03503033
+v 0.12037856 0.08610378 -0.03503036
+v 0.12709454 0.08848732 0.02744028
+v 0.12647903 0.09902540 0.02744031
+v 0.12154878 0.09584407 -0.02714658
+v 0.12174045 0.09515852 -0.03503033
+v 0.12261306 0.08880365 -0.03503035
+v 0.12709454 0.08848732 0.02727515
+v 0.12709454 0.09889267 0.02744031
+v 0.12468239 0.09341242 -0.03035759
+v 0.12265514 0.09356022 -0.03503034
+v 0.12339685 0.09085215 -0.03503035
+v 0.12483354 0.09291568 -0.02714659
+v 0.12709454 0.09013353 0.02093267
+v 0.12709454 0.09886668 0.02736080
+v 0.12483354 0.09366693 -0.02714659
+v 0.12709454 0.09580284 0.01936083
+v 0.12468239 0.09333305 -0.03035759
+v 0.12709454 0.09079584 0.01936081
+f 1 2 5
+f 1 5 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 5 9
+f 3 9 14
+f 3 14 20
+f 3 20 15
+f 3 15 10
+f 3 10 6
+f 3 6 7
+f 3 7 4
+f 4 7 12
+f 4 12 17
+f 4 17 22
+f 4 22 23
+f 4 23 18
+f 4 18 13
+f 4 13 8
+f 4 8 5
+f 5 8 9
+f 6 10 11
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+f 7 11 12
+f 8 13 9
+f 9 13 14
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+f 10 16 12
+f 10 12 11
+f 12 16 17
+f 13 18 19
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+f 14 30 28
+f 14 28 26
+f 14 26 20
+f 15 20 16
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+f 24 29 30
+f 24 30 25
+f 26 28 27
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_8.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bbb4ddfc6448b30ce0f27846d32353ebbc73d5c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_8.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.14721852 -0.07195039 -0.04587314
+v -0.14666398 -0.07195038 -0.04850743
+v -0.14877683 -0.07504538 -0.04587316
+v -0.13581895 -0.07195039 -0.04587314
+v -0.14881192 -0.07521746 -0.04587316
+v -0.14531625 -0.07195037 -0.05083107
+v -0.14412294 -0.07827447 -0.05515830
+v -0.08454899 -0.08638525 -0.04587320
+v -0.09168776 -0.07195039 -0.04707027
+v -0.14886106 -0.07547306 -0.04587316
+v -0.14205923 -0.07195036 -0.05359088
+v -0.14412294 -0.07981816 -0.05515830
+v -0.13923040 -0.07195036 -0.05569956
+v -0.14043072 -0.07609556 -0.05643856
+v -0.13281463 -0.07849461 -0.06123646
+v -0.13625416 -0.08206284 -0.06029824
+v -0.07974068 -0.08799980 -0.04587320
+v -0.07715051 -0.08099747 -0.04821094
+v -0.07715051 -0.07733813 -0.05109467
+v -0.07715051 -0.07683453 -0.05163440
+v -0.09115428 -0.07195038 -0.04898126
+v -0.14713428 -0.08111642 -0.04587318
+v -0.14531625 -0.08096962 -0.05164854
+v -0.14073256 -0.08194643 -0.05700184
+v -0.13876010 -0.08615238 -0.05616090
+v -0.13727900 -0.07195035 -0.05622831
+v -0.13313753 -0.08206283 -0.06136356
+v -0.12809758 -0.07824154 -0.06148436
+v -0.12809758 -0.08206283 -0.06190172
+v -0.13217587 -0.08578037 -0.06113608
+v -0.07973366 -0.08826299 -0.04587320
+v -0.07983895 -0.09485282 -0.04587323
+v -0.07715051 -0.08165291 -0.04828782
+v -0.07715051 -0.07677125 -0.05768275
+v -0.09135785 -0.07195037 -0.05216312
+v -0.14241721 -0.08404690 -0.05164855
+v -0.13284973 -0.09299277 -0.05164858
+v -0.13301819 -0.09356218 -0.04587322
+v -0.13425361 -0.08802001 -0.05802326
+v -0.13217587 -0.09217535 -0.05580163
+v -0.13598742 -0.07195035 -0.05622831
+v -0.11683840 -0.07195035 -0.05604317
+v -0.07715051 -0.07879323 -0.06097915
+v -0.07817535 -0.08206283 -0.06146397
+v -0.12809758 -0.08601066 -0.06124905
+v -0.08441562 -0.08663319 -0.06139967
+v -0.10313646 -0.08674707 -0.06129769
+v -0.12809758 -0.08908793 -0.05920156
+v -0.08399446 -0.09658884 -0.04587323
+v -0.07949500 -0.09382029 -0.05164858
+v -0.07715051 -0.08883235 -0.05811584
+v -0.07715051 -0.08882222 -0.05743805
+v -0.07715051 -0.08824019 -0.05168935
+v -0.07715051 -0.08821236 -0.05166582
+v -0.12809758 -0.09417205 -0.05164859
+v -0.12836432 -0.09511347 -0.04587323
+v -0.12809758 -0.09239551 -0.05614052
+v -0.10654089 -0.09762134 -0.04922298
+v -0.07715051 -0.08206283 -0.06140279
+v -0.07817535 -0.08632698 -0.06132750
+v -0.10313646 -0.08982435 -0.05952948
+v -0.08441562 -0.08971047 -0.05991701
+v -0.10816238 -0.09279788 -0.05661435
+v -0.10508085 -0.09780102 -0.04587324
+v -0.10569153 -0.09762134 -0.04922298
+v -0.08441562 -0.09543484 -0.05164859
+v -0.08004954 -0.09269160 -0.05640411
+v -0.07715051 -0.08614477 -0.06125532
+v -0.12809758 -0.09517926 -0.04587323
+v -0.08441562 -0.09296997 -0.05685440
+v -0.10678657 -0.09780102 -0.04587324
+f 1 2 3
+f 1 3 5
+f 1 5 10
+f 1 10 22
+f 1 22 38
+f 1 38 56
+f 1 56 69
+f 1 69 71
+f 1 71 64
+f 1 64 49
+f 1 49 32
+f 1 32 31
+f 1 31 17
+f 1 17 8
+f 1 8 4
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+f 1 9 21
+f 1 21 35
+f 1 35 42
+f 1 42 41
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+f 1 26 13
+f 1 13 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
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+f 2 7 5
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+f 6 11 7
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+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_80.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2033b05b78ffd1b732955d90f6ea6540b0772391
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_80.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.01573150 0.08415645 -0.05633734
+v -0.00327523 0.08415645 -0.05621722
+v -0.01573150 0.08271042 -0.05590359
+v -0.01573150 0.08876304 -0.05580346
+v -0.00327523 0.08901278 -0.05586352
+v 0.00268698 0.08882615 -0.05577009
+v 0.00268698 0.08415645 -0.05594362
+v 0.00268698 0.08271041 -0.05547650
+v -0.00051859 0.08271041 -0.05562331
+v -0.00327523 0.08271041 -0.05574343
+v -0.01573150 0.08271037 -0.04378481
+v -0.00951328 0.08890268 -0.05583015
+v -0.01573150 0.09144966 -0.05165930
+v -0.00765809 0.09377914 -0.04942373
+v -0.00281188 0.09231297 -0.05153918
+v 0.00268698 0.08898726 -0.05555654
+v 0.00268698 0.08271037 -0.04277046
+v -0.00315804 0.08271037 -0.04244346
+v -0.00327523 0.08977784 0.01183749
+v -0.00676926 0.09016049 0.01183749
+v -0.00881376 0.09049078 0.01183749
+v -0.01573150 0.08273991 -0.04375811
+v -0.01573150 0.09177724 -0.04551983
+v -0.00859560 0.09500358 -0.03939370
+v -0.00850907 0.09441956 -0.04551982
+v -0.00458414 0.09377914 -0.04942373
+v 0.00268698 0.09174369 -0.05163928
+v 0.00268698 0.08510832 -0.04032133
+v 0.00031976 0.09267526 0.01183750
+v -0.00183651 0.09082912 0.01183749
+v -0.00881376 0.09583449 0.01183751
+v -0.01573150 0.08580650 -0.04129563
+v -0.01573150 0.08908120 -0.04129562
+v -0.00878311 0.09570162 -0.00266365
+v -0.00876688 0.09564659 -0.00878977
+v -0.00873803 0.09558485 -0.01490922
+v -0.00870017 0.09551775 -0.02102868
+v -0.00866051 0.09542782 -0.02714813
+v -0.00855414 0.09525598 -0.03327425
+v -0.00855955 0.09522912 -0.03392824
+v -0.00327523 0.09538624 -0.03939370
+v -0.00327523 0.09566145 -0.03327425
+v -0.00327523 0.09563326 -0.03392824
+v -0.00281188 0.09435780 -0.04588686
+v -0.00042304 0.09332800 -0.04816915
+v 0.00268698 0.09184842 -0.05135233
+v 0.00268698 0.09018215 -0.03911344
+v 0.00031976 0.09397897 0.01183751
+v -0.00327523 0.09642660 0.01183751
+v -0.00327523 0.09581852 -0.02714813
+v 0.00268698 0.09286075 -0.04581346
+v 0.00268698 0.09285404 -0.04588687
+v 0.00268698 0.09286612 -0.04563328
+v 0.00268698 0.09284330 -0.04594693
+v 0.00268698 0.09029897 -0.03931364
+f 1 2 3
+f 1 3 11
+f 1 11 22
+f 1 22 32
+f 1 32 33
+f 1 33 23
+f 1 23 13
+f 1 13 4
+f 1 4 5
+f 1 5 2
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+f 2 6 7
+f 2 7 8
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+f 2 10 3
+f 3 10 9
+f 3 9 8
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+f 3 17 18
+f 3 18 11
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+f 44 52 45
+f 45 52 54
+f 45 54 46
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+f 48 55 53
+f 48 53 49
+f 49 53 50
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_81.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af9609b2d91d38caa9710c30d2e1ff62d7f9f8ca
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_81.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.15230393 -0.10502458 0.03751267
+v 0.15892074 -0.09768723 0.02547594
+v 0.15892074 -0.09767954 0.02795905
+v 0.15455919 -0.10047304 0.03751269
+v 0.15230393 -0.09483488 0.03751271
+v 0.15230393 -0.10309723 0.00628444
+v 0.15892074 -0.09675944 0.00959017
+v 0.15892074 -0.09431717 0.03204528
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+v 0.15892074 -0.08812288 0.03204149
+v 0.15287908 -0.09490151 0.03751271
+v 0.15892074 -0.08798193 0.03195349
+v 0.15892074 -0.08298444 0.02821928
+v 0.15230393 -0.09006292 0.03228252
+v 0.15230393 -0.10243857 0.00066397
+v 0.15892074 -0.09659285 0.00865662
+v 0.15892074 -0.08807162 0.03201470
+v 0.15892074 -0.08267178 0.02783667
+v 0.15230393 -0.08987840 0.03206061
+v 0.15230393 -0.10046007 -0.00157426
+v 0.15892074 -0.09424275 0.00412275
+v 0.15892074 -0.08258465 0.02767215
+v 0.15230393 -0.08705674 0.02834169
+v 0.15892074 -0.08610840 0.00038855
+v 0.15892074 -0.08822014 0.00013603
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+v 0.15892074 -0.08233596 0.00384732
+v 0.15230393 -0.08619556 0.00892830
+v 0.15519328 -0.08474757 0.00599756
+v 0.15230393 -0.08608281 0.00959021
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+f 1 11 5
+f 1 5 14
+f 1 14 19
+f 1 19 23
+f 1 23 30
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+f 1 34 32
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+f 1 27 20
+f 1 20 15
+f 1 15 6
+f 1 6 7
+f 1 7 2
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+f 6 15 7
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+f 28 29 30
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+f 29 33 32
+f 29 32 34
+f 29 34 30
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_82.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbb037fb231d83d7b3491ed2d802912dba9d4e20
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_82.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.15773253 0.01643679 -0.00108499
+v -0.15766153 0.01522996 -0.00108499
+v -0.15683545 0.01891094 -0.00108498
+v -0.15639994 0.01970009 -0.00878351
+v -0.15770058 0.01643680 -0.00266066
+v -0.15743312 0.01185517 -0.00108501
+v -0.15739407 0.01189109 -0.00266068
+v -0.15648396 0.01975865 -0.00108498
+v -0.15649106 0.01976906 -0.00266065
+v -0.15625911 0.01958009 -0.01258706
+v -0.15743785 0.01643682 -0.00878352
+v -0.15107072 0.01992227 -0.03221740
+v -0.15663309 0.01272755 -0.02715211
+v -0.15683664 0.01248182 -0.02102621
+v -0.15703192 0.01226915 -0.01490639
+v -0.15722246 0.01207256 -0.00878354
+v -0.15306370 0.01028260 -0.00108501
+v -0.15306370 0.01044241 -0.02715212
+v -0.15393829 0.01984843 -0.00108498
+v -0.15306370 0.01989003 -0.00266065
+v -0.15306370 0.01991934 -0.00878351
+v -0.15135949 0.01993643 -0.02715209
+v -0.15690765 0.01682526 -0.01474181
+v -0.15161039 0.01955653 -0.03221740
+v -0.15448033 0.01656827 -0.03221741
+v -0.15588512 0.01464509 -0.03221742
+v -0.15641177 0.01404876 -0.03171150
+v -0.15663309 0.01474524 -0.02715211
+v -0.14892625 0.01992227 -0.03221740
+v -0.15641177 0.01302810 -0.03171150
+v -0.15565315 0.01254140 -0.03221742
+v -0.15350869 0.01107467 -0.03221743
+v -0.14869192 0.01178712 -0.00108501
+v -0.14648710 0.01111342 -0.03221743
+v -0.15300335 0.01984371 -0.00108498
+v -0.14967777 0.01973506 -0.00878351
+v -0.14954047 0.01981446 -0.01490637
+v -0.14935467 0.01988821 -0.02102619
+v -0.14915348 0.01993643 -0.02715209
+v -0.14983399 0.01960650 -0.00108498
+v -0.14979847 0.01963675 -0.00266065
+v -0.14601489 0.01692739 -0.03221741
+v -0.14863630 0.01657477 -0.00108499
+v -0.14564327 0.01642179 -0.03221741
+v -0.14905998 0.01768332 -0.00108499
+f 1 2 6
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+f 1 33 43
+f 1 43 45
+f 1 45 40
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+f 1 35 19
+f 1 19 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
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+f 3 9 4
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+f 4 12 10
+f 5 11 13
+f 5 13 14
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+f 9 21 22
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+f 10 23 11
+f 10 12 24
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+f 12 26 25
+f 12 25 24
+f 13 18 14
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+f 13 27 30
+f 13 30 31
+f 13 31 32
+f 13 32 18
+f 14 18 15
+f 15 18 16
+f 17 18 34
+f 17 34 33
+f 18 32 34
+f 19 35 20
+f 20 36 37
+f 20 37 38
+f 20 38 39
+f 20 39 21
+f 20 35 40
+f 20 40 41
+f 20 41 36
+f 21 39 22
+f 26 31 30
+f 26 30 27
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+f 29 41 42
+f 33 34 44
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+f 36 41 38
+f 36 38 37
+f 38 41 39
+f 40 45 44
+f 40 44 42
+f 40 42 41
+f 43 44 45
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_83.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a9eefd1d76bb96936eb5331b8bc731849bdc50a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_83.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.15315617 -0.07590735 0.01570430
+v -0.15239670 -0.08162614 0.02183305
+v -0.15238311 -0.07540505 0.02222186
+v -0.15073672 -0.07216527 0.02044050
+v -0.15083697 -0.07195062 0.01570432
+v -0.15084037 -0.07195160 -0.02053102
+v -0.15083357 -0.07195158 -0.02661031
+v -0.15074182 -0.07195156 -0.03276027
+v -0.15211295 -0.07590719 -0.02714756
+v -0.14682042 -0.08325771 -0.00751010
+v -0.14682212 -0.08331393 -0.00266081
+v -0.14682212 -0.08343088 0.02183304
+v -0.15147241 -0.08083841 0.02589768
+v -0.15135519 -0.08056514 -0.02714758
+v -0.14682042 -0.08324198 -0.00878251
+v -0.15147241 -0.07712216 0.02589770
+v -0.14850417 -0.07216527 0.02044050
+v -0.15083527 -0.07195062 0.01572553
+v -0.14682212 -0.07662659 0.02634305
+v -0.15079110 -0.07195053 -0.00751005
+v -0.15072143 -0.07195156 -0.03326924
+v -0.15186490 -0.07590717 -0.03326926
+v -0.15118868 -0.08042352 -0.03326928
+v -0.14012616 -0.08292045 -0.04587318
+v -0.14201721 -0.08078669 0.02183305
+v -0.14263056 -0.08002143 0.02581287
+v -0.14682212 -0.08115306 0.02634303
+v -0.13788512 -0.08239229 -0.04587318
+v -0.14682042 -0.08216984 -0.03326928
+v -0.14479176 -0.07331036 0.01570431
+v -0.14790782 -0.07195062 0.01570432
+v -0.14792140 -0.07195062 0.01572553
+v -0.14658425 -0.07360030 0.02222187
+v -0.14263056 -0.07770089 0.02581287
+v -0.14682042 -0.07195053 -0.00751005
+v -0.14722140 -0.07195151 -0.04587314
+v -0.14869787 -0.07195152 -0.04318695
+v -0.15011657 -0.07195154 -0.03828818
+v -0.15039012 -0.07195154 -0.03730560
+v -0.15034085 -0.07202683 -0.03816094
+v -0.15083357 -0.07543628 -0.03987871
+v -0.15027459 -0.07717584 -0.04350507
+v -0.15027459 -0.07947729 -0.04350508
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+v -0.14682042 -0.08184505 -0.03939804
+v -0.14713474 -0.08111458 -0.04587318
+v -0.14201721 -0.07673108 0.02183307
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+v -0.13582757 -0.07195151 -0.04587314
+v -0.14877943 -0.07504632 -0.04587316
+v -0.14986511 -0.07307078 -0.04223972
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+v -0.14885928 -0.07547223 -0.04587316
+v -0.13582587 -0.07212681 -0.04587314
+v -0.14881170 -0.07521713 -0.04587316
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+f 1 5 6
+f 1 6 7
+f 1 7 8
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+f 1 9 2
+f 2 10 11
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+f 3 16 4
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+f 5 35 20
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+f 23 45 46
+f 23 46 29
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+f 24 46 45
+f 24 45 47
+f 24 47 54
+f 24 54 56
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+f 24 51 36
+f 24 36 50
+f 24 50 55
+f 24 55 49
+f 24 49 28
+f 25 48 34
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+f 25 28 49
+f 25 49 48
+f 30 33 48
+f 30 48 50
+f 30 50 31
+f 31 50 35
+f 33 34 48
+f 36 51 52
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+f 37 40 38
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+f 40 52 41
+f 41 52 42
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+f 43 54 47
+f 43 47 45
+f 43 45 44
+f 48 49 55
+f 48 55 50
+f 51 56 53
+f 51 53 52
+f 53 56 54
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_84.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73a7ac3342811429a218b88214e4661bc6367e89
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_84.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.13506977 -0.08726586 -0.04587320
+v -0.13439349 -0.08506799 -0.04587319
+v -0.13319825 -0.09335511 -0.04587322
+v -0.13296930 -0.09379178 -0.03939914
+v -0.13282136 -0.09368349 -0.03327430
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+v -0.13235642 -0.09323447 -0.02103213
+v -0.13172826 -0.09218073 -0.00750941
+v -0.13172826 -0.08996255 -0.00750940
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+v -0.12648353 -0.08591433 -0.00750939
+v -0.13302096 -0.09356158 -0.04587322
+v -0.13303035 -0.09359656 -0.04552398
+v -0.12810028 -0.09565003 -0.03939915
+v -0.12810028 -0.09562410 -0.03327431
+v -0.12810028 -0.09549438 -0.02715323
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+v -0.12810028 -0.09495511 -0.01490730
+v -0.12810028 -0.09426802 -0.00750942
+v -0.13206054 -0.09280125 -0.01490729
+v -0.13100619 -0.09260270 -0.00750941
+v -0.12389816 -0.08794959 -0.04587320
+v -0.12414590 -0.08652698 -0.00750939
+v -0.12335807 -0.08779967 -0.00750939
+v -0.12837150 -0.09511295 -0.04587323
+v -0.12810028 -0.09524157 -0.04552399
+v -0.12390168 -0.09293990 -0.04552398
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+v -0.12390521 -0.09291396 -0.04587322
+v -0.12307511 -0.09232063 -0.00750941
+v -0.12810028 -0.09518064 -0.04587323
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+f 1 10 23
+f 1 23 34
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+f 1 26 13
+f 1 13 3
+f 1 3 4
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+f 1 5 6
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+f 20 22 21
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+f 23 35 34
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+f 27 36 34
+f 27 34 28
+f 28 34 32
+f 28 32 29
+f 29 32 31
+f 29 31 30
+f 32 34 35
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_85.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc1775d40e27f7d24c043d2a11075b035ca552c8
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_85.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.16321373 0.06494125 -0.00108481
+v -0.16321373 0.06144859 -0.00108482
+v -0.16192076 0.06722622 -0.00108480
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+v -0.15930466 0.05993879 -0.02102604
+v -0.16143949 0.06799496 -0.00266047
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+v -0.16278073 0.06375697 -0.02102603
+v -0.16291349 0.06422241 -0.01490620
+v -0.16304777 0.06466242 -0.00878334
+v -0.15737351 0.06929501 -0.03221722
+v -0.15791363 0.06876592 -0.03221722
+v -0.15306463 0.05880429 -0.03221725
+v -0.15376014 0.06032147 -0.00108483
+v -0.16278073 0.06204774 -0.02102603
+v -0.16304777 0.06167128 -0.00878335
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+v -0.15829986 0.06936914 -0.00878333
+v -0.15805393 0.06938295 -0.01490619
+v -0.15779745 0.06936708 -0.02102601
+v -0.15906025 0.06897892 -0.00108480
+v -0.16091747 0.06683399 -0.02102601
+v -0.16260421 0.06318548 -0.02715193
+v -0.15384010 0.06963643 -0.03221721
+v -0.16065194 0.06528173 -0.03221723
+v -0.16067004 0.06626250 -0.02715192
+v -0.15968184 0.06084433 -0.03221725
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+v -0.15288660 0.06568666 -0.00108481
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+v -0.14974245 0.06891753 -0.02901407
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+v -0.15523566 0.06928642 -0.00266047
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+v -0.14990992 0.06919746 -0.03221722
+v -0.14944070 0.06911264 -0.03221722
+f 1 2 7
+f 1 7 19
+f 1 19 37
+f 1 37 48
+f 1 48 53
+f 1 53 41
+f 1 41 27
+f 1 27 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 8
+f 1 8 2
+f 2 6 7
+f 2 8 9
+f 2 9 6
+f 3 10 4
+f 3 11 10
+f 4 12 13
+f 4 13 14
+f 4 14 15
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+f 4 17 12
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+f 13 38 20
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+f 16 54 55
+f 16 55 49
+f 16 49 46
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+f 16 31 17
+f 17 31 32
+f 17 32 28
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+f 19 34 35
+f 20 38 22
+f 20 23 21
+f 22 38 33
+f 24 39 30
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+f 24 52 39
+f 25 30 26
+f 27 41 40
+f 28 32 29
+f 29 32 42
+f 29 42 51
+f 29 51 38
+f 30 39 43
+f 31 44 32
+f 32 44 42
+f 33 38 45
+f 34 46 36
+f 34 36 35
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+f 36 47 37
+f 37 47 46
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+f 37 49 50
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+f 38 51 45
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+f 40 53 52
+f 42 44 51
+f 43 52 54
+f 44 45 51
+f 48 50 53
+f 49 55 50
+f 50 55 53
+f 52 53 55
+f 52 55 54
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_86.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb80e78109b70ae313635381d81b6fbc82c5e604
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_86.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.03411810 0.01073879 -0.05776749
+v 0.03411810 0.01267831 -0.06125551
+v 0.03411810 0.01143450 -0.05289594
+v 0.02779307 -0.00114764 -0.05167670
+v 0.02778275 -0.00114764 -0.05241022
+v 0.02793147 0.01266846 -0.06126107
+v 0.03411810 0.01442747 -0.06125551
+v 0.02651237 0.01028259 -0.04706261
+v 0.02649378 -0.00114766 -0.04704595
+v 0.03411810 0.01694780 -0.05312558
+v 0.02647106 0.03237516 -0.04712099
+v 0.02650824 0.01643582 -0.04707512
+v 0.02715066 -0.00114764 -0.05241022
+v 0.02169114 0.01267175 -0.06126525
+v 0.02793147 0.01459812 -0.06126107
+v 0.02169114 0.01784045 -0.06005291
+v 0.02741093 0.03237518 -0.05188815
+v 0.03411810 0.01445371 -0.06123881
+v 0.02193489 0.01028259 -0.04706261
+v 0.02200925 -0.00114766 -0.04704595
+v 0.03411810 0.01700031 -0.05317012
+v 0.02199273 0.03237516 -0.04712099
+v 0.02646899 0.02874885 -0.04710847
+v 0.02647312 0.02259234 -0.04709041
+v 0.02187705 0.01643582 -0.04707512
+v 0.02097436 -0.00114764 -0.05168506
+v 0.01301954 0.01268159 -0.06126247
+v 0.01545081 0.01267831 -0.06126386
+v 0.02169114 0.01476549 -0.06126525
+v 0.01545081 0.01478189 -0.06126386
+v 0.01301954 0.01476220 -0.06126247
+v 0.02125322 0.03237518 -0.05153600
+v 0.03411810 0.01783716 -0.05730536
+v 0.03411810 0.01782403 -0.05733876
+v 0.01875585 0.01643583 -0.04879408
+v 0.01301954 0.01696748 -0.05198842
+v 0.01301954 0.01514613 -0.05206358
+v 0.01301954 0.01152638 -0.05249091
+v 0.02203611 0.02259234 -0.04709041
+v 0.02208981 0.02874885 -0.04710847
+v 0.02125322 0.03237517 -0.05004531
+v 0.01301954 0.01126386 -0.05447571
+v 0.01301954 0.01084709 -0.05777027
+v 0.01301954 0.01155923 -0.05913013
+v 0.01301954 0.01808985 -0.05794005
+f 1 2 7
+f 1 7 18
+f 1 18 34
+f 1 34 33
+f 1 33 21
+f 1 21 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
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+f 2 5 6
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+f 3 9 4
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+f 3 12 8
+f 4 9 20
+f 4 20 26
+f 4 26 13
+f 4 13 5
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+f 5 14 6
+f 6 14 29
+f 6 29 15
+f 7 15 16
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+f 7 17 18
+f 8 19 20
+f 8 20 9
+f 8 12 25
+f 8 25 19
+f 10 21 11
+f 11 17 32
+f 11 32 41
+f 11 41 22
+f 11 22 40
+f 11 40 23
+f 11 23 12
+f 11 21 17
+f 12 23 24
+f 12 24 39
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+f 13 26 27
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+f 14 28 30
+f 14 30 29
+f 15 29 16
+f 16 30 31
+f 16 31 32
+f 16 32 17
+f 16 29 30
+f 17 21 33
+f 17 33 34
+f 17 34 18
+f 19 25 20
+f 20 25 35
+f 20 35 36
+f 20 36 37
+f 20 37 38
+f 20 38 26
+f 22 39 40
+f 22 41 36
+f 22 36 35
+f 22 35 25
+f 22 25 39
+f 23 40 39
+f 23 39 24
+f 26 38 42
+f 26 42 43
+f 26 43 44
+f 26 44 27
+f 27 44 43
+f 27 43 42
+f 27 42 38
+f 27 38 37
+f 27 37 36
+f 27 36 45
+f 27 45 31
+f 27 31 30
+f 27 30 28
+f 31 45 32
+f 32 45 41
+f 36 41 45
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_87.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6b6ee6399063d83d40af647d6addaf706e23453
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_87.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.15892237 -0.09768843 0.02547345
+v 0.16897673 -0.09179518 0.02374221
+v 0.15892237 -0.09767997 0.02795771
+v 0.15892237 -0.09676154 0.00958317
+v 0.17131537 -0.08821692 0.02795775
+v 0.16883743 -0.09168092 0.02795773
+v 0.16524014 -0.09386470 0.02795773
+v 0.16078575 -0.09655634 0.02795772
+v 0.16272287 -0.09146063 -0.03340231
+v 0.16595632 -0.08985244 -0.02715302
+v 0.16585144 -0.08939958 -0.03327358
+v 0.16907506 -0.08677568 -0.02715301
+v 0.16837854 -0.09131062 0.03104054
+v 0.15892237 -0.09431756 0.03204453
+v 0.15892237 -0.09659225 0.00864997
+v 0.16179528 -0.09141196 -0.03340231
+v 0.16185755 -0.09146063 -0.03340231
+v 0.17395720 -0.08366737 0.02795776
+v 0.16573835 -0.08946729 -0.03340230
+v 0.16583833 -0.08937631 -0.03340230
+v 0.16881612 -0.08630166 -0.03340229
+v 0.16882759 -0.08632282 -0.03327357
+v 0.17514045 -0.08055040 0.02425068
+v 0.17476023 -0.07955798 0.03127872
+v 0.16942577 -0.08821694 0.03158117
+v 0.16524014 -0.09209357 0.03149105
+v 0.15892237 -0.09420330 0.03207028
+v 0.15892237 -0.09424340 0.00411908
+v 0.15966969 -0.08809397 -0.03340229
+v 0.15967952 -0.08823363 -0.03340229
+v 0.17512569 -0.08058850 0.02795777
+v 0.16881612 -0.08436334 -0.03340228
+v 0.17540431 -0.07607068 0.02393535
+v 0.17566323 -0.07607069 0.02782264
+v 0.17486348 -0.07607071 0.03144606
+v 0.17169721 -0.08179044 0.03192230
+v 0.17566160 -0.07607069 0.02795779
+v 0.16524014 -0.08821694 0.03234705
+v 0.15892237 -0.08811960 0.03203812
+v 0.15892237 -0.09397254 0.00391313
+v 0.15992863 -0.08281438 -0.03340227
+v 0.15892237 -0.08821682 0.00012884
+v 0.15892237 -0.08610710 0.00037985
+v 0.15892237 -0.08233628 0.00384239
+v 0.15892237 -0.07884480 0.00958324
+v 0.16524834 -0.08204837 -0.03340227
+v 0.16854898 -0.07607061 0.00620439
+v 0.17477826 -0.07607071 0.03146537
+v 0.17148581 -0.07607071 0.03198668
+v 0.17132028 -0.07607071 0.03198668
+v 0.16742638 -0.07607071 0.03156834
+v 0.15892237 -0.08807093 0.03201238
+v 0.16003351 -0.07607063 0.00958325
+v 0.16123479 -0.07607061 0.00541921
+v 0.15892237 -0.08258606 0.02766816
+v 0.16524014 -0.07607061 0.00510385
+v 0.16143801 -0.07607061 0.00535485
+v 0.15892237 -0.08797994 0.03195446
+v 0.16424864 -0.07607069 0.02765530
+v 0.15892237 -0.08298389 0.02822164
+v 0.16087588 -0.07607064 0.01418493
+v 0.15892237 -0.08267071 0.02783549
+v 0.16423716 -0.07607069 0.02762313
+v 0.16174775 -0.07818675 0.02540916
+f 1 2 3
+f 1 3 14
+f 1 14 27
+f 1 27 39
+f 1 39 52
+f 1 52 58
+f 1 58 60
+f 1 60 62
+f 1 62 55
+f 1 55 45
+f 1 45 44
+f 1 44 43
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+f 1 42 40
+f 1 40 28
+f 1 28 15
+f 1 15 4
+f 1 4 2
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+f 24 35 36
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+f 28 40 29
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+f 33 46 47
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+f 33 56 57
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+f 33 51 50
+f 33 50 49
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+f 33 48 35
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+f 36 49 38
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+f 39 50 51
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+f 45 55 53
+f 46 56 47
+f 46 54 57
+f 46 57 56
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+f 51 59 60
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+f 53 55 61
+f 55 62 59
+f 55 59 63
+f 55 63 64
+f 55 64 61
+f 59 62 60
+f 61 64 63
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_88.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f792807c846947fe4ca8d2c6ade2177d35e6eae
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_88.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.08531437 0.03627662 -0.05769428
+v -0.09121918 0.02790905 -0.04760482
+v -0.09157323 0.02790907 -0.05218992
+v -0.08531437 0.03770561 -0.06107635
+v -0.08531437 0.03644942 -0.05270770
+v -0.09140435 0.02790905 -0.04686286
+v -0.09585635 0.02790907 -0.05219985
+v -0.10609922 0.03762307 -0.06115012
+v -0.08531437 0.03819312 -0.06109763
+v -0.10609922 0.04106398 -0.06131042
+v -0.08531437 0.04106394 -0.05099536
+v -0.09132296 0.03490693 -0.04683729
+v -0.09140435 0.02874993 -0.04685860
+v -0.09598861 0.02790905 -0.04686286
+v -0.10609922 0.03622761 -0.05776947
+v -0.08531437 0.04106397 -0.06121963
+v -0.10609922 0.04429853 -0.06099121
+v -0.10313258 0.04429853 -0.06098980
+v -0.09689204 0.04430368 -0.06098554
+v -0.09065353 0.04430110 -0.06097986
+v -0.08531437 0.04428821 -0.06097560
+v -0.09124767 0.04106392 -0.04682025
+v -0.08531437 0.04411020 -0.05227640
+v -0.09140231 0.05426007 -0.04681878
+v -0.09599878 0.03490693 -0.04683729
+v -0.09598861 0.02874993 -0.04685860
+v -0.10609922 0.04106394 -0.05123937
+v -0.10609922 0.03872702 -0.05181819
+v -0.10609922 0.03631271 -0.05253037
+v -0.10609922 0.04492790 -0.05945905
+v -0.09594792 0.05426010 -0.05335879
+v -0.09459481 0.05426010 -0.05431639
+v -0.09292226 0.05426010 -0.05431639
+v -0.08531437 0.04459773 -0.06051171
+v -0.09132499 0.04721834 -0.04681881
+v -0.09600286 0.04106392 -0.04682025
+v -0.08531437 0.04549533 -0.05298430
+v -0.09111948 0.05426009 -0.05202951
+v -0.09598454 0.05426007 -0.04681878
+v -0.10609922 0.04587966 -0.05258565
+v -0.10609922 0.04540249 -0.05776943
+v -0.09630196 0.05426009 -0.05204228
+v -0.10609922 0.04597253 -0.05513357
+v -0.08531437 0.04541281 -0.05776943
+v -0.09598047 0.04721834 -0.04681881
+v -0.08531437 0.04561916 -0.05683312
+v -0.09632028 0.05426007 -0.04748271
+f 1 2 3
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+f 1 4 9
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+f 1 16 21
+f 1 21 34
+f 1 34 44
+f 1 44 46
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+f 1 11 5
+f 1 5 2
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+f 2 7 3
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+f 3 7 8
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+f 4 8 10
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+f 6 13 26
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+f 6 11 12
+f 7 14 15
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+f 8 15 29
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+f 8 17 10
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+f 34 38 44
+f 36 45 39
+f 37 46 38
+f 38 46 44
+f 39 47 40
+f 40 47 43
+f 42 43 47
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_89.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..856398e57021b008ae337ef46e1ffd8ade8addc3
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_89.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.04197060 -0.00115092 -0.05151026
+v 0.04290206 -0.00115093 -0.04787012
+v 0.04665472 -0.00115091 -0.05533299
+v 0.03415318 -0.00682529 -0.05734993
+v 0.03415318 -0.00678232 -0.05725293
+v 0.03415318 -0.00678232 -0.05722440
+v 0.03415318 -0.00752144 -0.05328900
+v 0.04274600 -0.00818752 -0.04789011
+v 0.04343606 -0.00115093 -0.04770466
+v 0.03415318 -0.00766970 -0.05316776
+v 0.03415318 -0.01292943 -0.05300945
+v 0.04665472 -0.00268069 -0.05711313
+v 0.04905407 -0.00115091 -0.05470537
+v 0.05906359 -0.00674149 -0.05911437
+v 0.03415318 -0.01029309 -0.06114699
+v 0.04280940 -0.01434320 -0.04791439
+v 0.04665472 -0.01434321 -0.04675330
+v 0.04665472 -0.00818753 -0.04672333
+v 0.04665472 -0.00203185 -0.04671048
+v 0.04665472 -0.00115094 -0.04671047
+v 0.03415318 -0.01340210 -0.05778072
+v 0.04274844 -0.02310080 -0.05075293
+v 0.04299716 -0.02310081 -0.04795578
+v 0.05906359 -0.00677802 -0.05915003
+v 0.05289451 -0.00669422 -0.05964926
+v 0.04665472 -0.00670067 -0.06017560
+v 0.05234344 -0.00115092 -0.05221633
+v 0.05906359 -0.00471109 -0.05608757
+v 0.04041492 -0.00998154 -0.06125967
+v 0.03415318 -0.01174553 -0.06114699
+v 0.04511123 -0.02310082 -0.04729536
+v 0.04665472 -0.02310082 -0.04681895
+v 0.04665472 -0.02049889 -0.04679898
+v 0.05082921 -0.02310082 -0.04744941
+v 0.05102184 -0.01434321 -0.04742514
+v 0.05107305 -0.00818753 -0.04741798
+v 0.05086091 -0.00115094 -0.04742651
+v 0.04665472 -0.02310079 -0.05316781
+v 0.05906359 -0.00982040 -0.06115983
+v 0.05906359 -0.00985693 -0.06117837
+v 0.05289451 -0.00977099 -0.06122972
+v 0.04665472 -0.00977742 -0.06127964
+v 0.05232149 -0.00115092 -0.05154592
+v 0.05906359 -0.00469391 -0.05418334
+v 0.05906359 -0.00469390 -0.05603907
+v 0.04041492 -0.01186369 -0.06125967
+v 0.03417513 -0.01174983 -0.06114699
+v 0.05109499 -0.02310081 -0.04941641
+v 0.05906359 -0.01283919 -0.05301088
+v 0.05906359 -0.00818751 -0.05249022
+v 0.04665472 -0.01185725 -0.06127964
+v 0.05906359 -0.01172834 -0.06117837
+v 0.04876147 -0.02310080 -0.05238472
+v 0.05289451 -0.01178850 -0.06122972
+v 0.05109499 -0.02310080 -0.05150892
+v 0.05906359 -0.01328822 -0.05777073
+f 1 2 9
+f 1 9 20
+f 1 20 37
+f 1 37 43
+f 1 43 27
+f 1 27 13
+f 1 13 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 7 10
+f 2 10 11
+f 2 11 8
+f 3 12 4
+f 3 13 14
+f 3 14 12
+f 4 15 30
+f 4 30 21
+f 4 21 11
+f 4 11 10
+f 4 10 7
+f 4 7 6
+f 4 6 5
+f 4 12 15
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 9
+f 8 11 16
+f 11 21 22
+f 11 22 23
+f 11 23 16
+f 12 14 24
+f 12 24 25
+f 12 25 26
+f 12 26 15
+f 13 27 28
+f 13 28 14
+f 14 28 45
+f 14 45 44
+f 14 44 50
+f 14 50 49
+f 14 49 56
+f 14 56 52
+f 14 52 40
+f 14 40 39
+f 14 39 24
+f 15 29 46
+f 15 46 30
+f 15 26 29
+f 16 23 31
+f 16 31 32
+f 16 32 33
+f 16 33 17
+f 17 33 34
+f 17 34 35
+f 17 35 18
+f 18 35 36
+f 18 36 19
+f 19 36 20
+f 20 36 37
+f 21 30 22
+f 22 30 38
+f 22 38 53
+f 22 53 55
+f 22 55 48
+f 22 48 34
+f 22 34 32
+f 22 32 31
+f 22 31 23
+f 24 39 25
+f 25 39 26
+f 26 39 40
+f 26 40 41
+f 26 41 42
+f 26 42 29
+f 27 43 44
+f 27 44 45
+f 27 45 28
+f 29 42 51
+f 29 51 46
+f 30 46 47
+f 30 47 38
+f 32 34 33
+f 34 48 49
+f 34 49 50
+f 34 50 35
+f 35 50 36
+f 36 50 37
+f 37 50 44
+f 37 44 43
+f 38 47 46
+f 38 46 51
+f 38 51 52
+f 38 52 53
+f 40 52 54
+f 40 54 41
+f 41 54 51
+f 41 51 42
+f 48 55 56
+f 48 56 49
+f 51 54 52
+f 52 56 55
+f 52 55 53
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_9.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c471fd6f0fa80d3dcd408027456e108e3141350
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_9.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.07375498 -0.04102425 -0.05142897
+v -0.08440246 -0.05366895 -0.05665317
+v -0.08440246 -0.05366593 -0.05371260
+v -0.07228019 -0.04102427 -0.04731276
+v -0.07374645 -0.04102425 -0.05166957
+v -0.08440246 -0.05546711 -0.05971187
+v -0.07162377 -0.04102423 -0.05627996
+v -0.08440246 -0.05742877 -0.05198804
+v -0.07192214 -0.05743485 -0.04707654
+v -0.07181984 -0.04512616 -0.04714709
+v -0.06874239 -0.04102427 -0.04713699
+v -0.08440246 -0.05854578 -0.06131256
+v -0.07090769 -0.04102423 -0.05662574
+v -0.08440246 -0.06196053 -0.05298650
+v -0.07201592 -0.07195039 -0.04724660
+v -0.07177722 -0.06974657 -0.04715295
+v -0.04696150 -0.04512616 -0.04668317
+v -0.04696150 -0.04102427 -0.04666010
+v -0.07816230 -0.05843680 -0.06133992
+v -0.08440246 -0.06113103 -0.06131256
+v -0.04568278 -0.04102423 -0.05705221
+v -0.08440246 -0.06258411 -0.05776978
+v -0.07282577 -0.07195037 -0.05164808
+v -0.06719088 -0.07195039 -0.04715439
+v -0.04696150 -0.07195039 -0.04692819
+v -0.04696150 -0.06974657 -0.04689505
+v -0.04696150 -0.06359222 -0.04683739
+v -0.02200087 -0.07195039 -0.04680717
+v 0.00239713 -0.04102427 -0.04687045
+v -0.07192214 -0.05838534 -0.06136586
+v -0.07816230 -0.06116433 -0.06133993
+v -0.07006373 -0.07195036 -0.05578302
+v -0.06568199 -0.05838837 -0.06137738
+v -0.00270923 -0.04102423 -0.05711127
+v 0.00254205 -0.07195039 -0.04704201
+v 0.00268697 -0.05206759 -0.04726093
+v 0.00268697 -0.04631888 -0.04775797
+v 0.00268697 -0.04102426 -0.04855612
+v -0.07192214 -0.06119763 -0.06136587
+v -0.06773646 -0.07195036 -0.05572827
+v -0.06568199 -0.06121276 -0.06137739
+v -0.05944182 -0.06120368 -0.06137163
+v 0.00268697 -0.06108865 -0.06126646
+v -0.05944182 -0.05842469 -0.06137162
+v -0.00243643 -0.04102423 -0.05711127
+v 0.00238861 -0.04102423 -0.05710695
+v 0.00267845 -0.07195038 -0.04955755
+v 0.00268697 -0.06359524 -0.04794965
+v 0.00268697 -0.05743485 -0.04727392
+v 0.00268697 -0.04102423 -0.05595580
+v 0.00249943 -0.07195037 -0.05217395
+v 0.00268697 -0.05899381 -0.06126646
+v 0.00268697 -0.06262346 -0.05918171
+v -0.05320166 -0.05847010 -0.06136010
+v -0.02200087 -0.05872136 -0.06130680
+v -0.01576071 -0.05878796 -0.06129671
+v -0.00328039 -0.05892721 -0.06127654
+v 0.00268697 -0.06401297 -0.05723959
+v 0.00268697 -0.06749429 -0.05186562
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 18
+f 1 18 29
+f 1 29 38
+f 1 38 50
+f 1 50 46
+f 1 46 45
+f 1 45 34
+f 1 34 21
+f 1 21 13
+f 1 13 7
+f 1 7 5
+f 1 5 2
+f 2 6 12
+f 2 12 20
+f 2 20 22
+f 2 22 14
+f 2 14 8
+f 2 8 3
+f 2 5 7
+f 2 7 6
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 6 7 13
+f 6 13 12
+f 8 14 15
+f 8 15 9
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 10 18 11
+f 12 19 31
+f 12 31 20
+f 12 13 21
+f 12 21 19
+f 14 22 23
+f 14 23 15
+f 15 23 32
+f 15 32 40
+f 15 40 51
+f 15 51 47
+f 15 47 35
+f 15 35 28
+f 15 28 25
+f 15 25 24
+f 15 24 16
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 17
+f 17 27 28
+f 17 28 18
+f 18 28 29
+f 19 30 39
+f 19 39 31
+f 19 21 30
+f 20 31 32
+f 20 32 22
+f 21 33 30
+f 21 34 33
+f 22 32 23
+f 25 28 26
+f 26 28 27
+f 28 35 29
+f 29 35 36
+f 29 36 37
+f 29 37 38
+f 30 33 41
+f 30 41 39
+f 31 39 32
+f 32 39 41
+f 32 41 42
+f 32 42 43
+f 32 43 40
+f 33 44 42
+f 33 42 41
+f 33 34 45
+f 33 45 46
+f 33 46 44
+f 35 47 48
+f 35 48 49
+f 35 49 36
+f 36 49 48
+f 36 48 59
+f 36 59 58
+f 36 58 53
+f 36 53 43
+f 36 43 52
+f 36 52 50
+f 36 50 38
+f 36 38 37
+f 40 43 51
+f 42 44 52
+f 42 52 43
+f 43 53 47
+f 43 47 51
+f 44 54 55
+f 44 55 56
+f 44 56 57
+f 44 57 52
+f 44 46 54
+f 46 50 52
+f 46 52 57
+f 46 57 56
+f 46 56 55
+f 46 55 54
+f 47 53 58
+f 47 58 59
+f 47 59 48
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_90.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..794b9bf6d8a8d99f32af0c49308a697202bd4faa
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_90.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.16154963 0.01985291 -0.00370430
+v 0.16322943 0.01985291 -0.00370430
+v 0.15938401 0.01643563 -0.00370431
+v 0.16184135 0.02873840 0.00587835
+v 0.16523781 0.02873840 0.00561747
+v 0.16634936 0.01768785 -0.00370431
+v 0.16849763 0.02873840 0.00627534
+v 0.15870406 0.01643558 0.00958733
+v 0.16068317 0.02873838 0.00958738
+v 0.15995335 0.01126289 -0.00370433
+v 0.15923545 0.01028271 0.00958731
+v 0.16676578 0.01716121 -0.00370431
+v 0.16923830 0.02873838 0.00958171
+v 0.16875898 0.01460995 -0.00370432
+v 0.15931895 0.01643556 0.01560836
+v 0.16095861 0.02873837 0.01418491
+v 0.16431278 0.01074796 -0.00370433
+v 0.16181098 -0.00115113 0.00603514
+v 0.16065606 -0.00115115 0.00958727
+v 0.16091633 -0.00115116 0.01339271
+v 0.16096404 -0.00115116 0.01403546
+v 0.16910057 0.02873837 0.01373499
+v 0.16978160 0.01643556 0.01560836
+v 0.16953110 0.01643558 0.00958733
+v 0.16875898 0.01276380 -0.00370432
+v 0.15934281 0.01654088 0.01560836
+v 0.16017674 0.01022710 0.01560834
+v 0.16086861 0.02244506 0.01560838
+v 0.16523781 0.02759439 0.01560840
+v 0.16523022 0.02873836 0.01527569
+v 0.16523781 0.01066603 -0.00370433
+v 0.16474439 -0.00115113 0.00592172
+v 0.16523781 -0.00115117 0.01517728
+v 0.16022987 0.00989942 0.01560834
+v 0.16906262 0.02873837 0.01375957
+v 0.16906696 0.02209104 0.01560838
+v 0.16978160 0.01633023 0.01560836
+v 0.16950291 0.01028271 0.00958731
+v 0.16923722 -0.00115115 0.00958727
+v 0.16845642 -0.00115113 0.00639433
+v 0.16817122 0.01238638 -0.00370432
+v 0.16682760 0.02540885 0.01560839
+v 0.16799662 -0.00115113 0.00631682
+v 0.16523781 -0.00115113 0.00590470
+v 0.16913962 -0.00115116 0.01379348
+v 0.16944976 0.01043190 0.01560834
+v 0.16523781 0.00520358 0.01560832
+v 0.16318389 0.00659916 0.01560832
+v 0.16946169 0.01051090 0.01560834
+f 1 2 6
+f 1 6 12
+f 1 12 14
+f 1 14 25
+f 1 25 41
+f 1 41 31
+f 1 31 17
+f 1 17 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 16
+f 4 16 30
+f 4 30 35
+f 4 35 22
+f 4 22 13
+f 4 13 7
+f 4 7 5
+f 6 7 12
+f 7 13 14
+f 7 14 12
+f 8 15 16
+f 8 16 9
+f 8 11 15
+f 10 17 18
+f 10 18 19
+f 10 19 11
+f 11 19 20
+f 11 20 21
+f 11 21 15
+f 13 22 23
+f 13 23 24
+f 13 24 14
+f 14 24 25
+f 15 26 16
+f 15 21 27
+f 15 27 34
+f 15 34 48
+f 15 48 47
+f 15 47 46
+f 15 46 49
+f 15 49 37
+f 15 37 23
+f 15 23 36
+f 15 36 42
+f 15 42 29
+f 15 29 28
+f 15 28 26
+f 16 28 29
+f 16 29 30
+f 16 26 28
+f 17 31 18
+f 18 32 44
+f 18 44 43
+f 18 43 40
+f 18 40 39
+f 18 39 45
+f 18 45 33
+f 18 33 21
+f 18 21 20
+f 18 20 19
+f 18 31 32
+f 21 33 34
+f 21 34 27
+f 22 35 36
+f 22 36 23
+f 23 37 24
+f 24 37 38
+f 24 38 25
+f 25 38 39
+f 25 39 40
+f 25 40 41
+f 29 42 35
+f 29 35 30
+f 31 41 40
+f 31 40 43
+f 31 43 44
+f 31 44 32
+f 33 45 46
+f 33 46 47
+f 33 47 48
+f 33 48 34
+f 35 42 36
+f 37 49 45
+f 37 45 39
+f 37 39 38
+f 45 49 46
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_91.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b8a13fee5a8e8ac69539ccc48175a9103b83fc0
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_91.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.16186021 0.06896373 -0.00370412
+v 0.16108045 0.07722710 0.00382173
+v 0.16184257 0.07722710 0.00381416
+v 0.16400873 0.06896373 -0.00370412
+v 0.16052457 0.06624882 -0.00370413
+v 0.15949443 0.07722707 0.00958755
+v 0.16024884 0.06568401 -0.00370413
+v 0.16493960 0.07722710 0.00381416
+v 0.16454254 0.06889728 -0.00370412
+v 0.15959038 0.07722707 0.01023975
+v 0.16006024 0.04063278 -0.00370422
+v 0.15947678 0.06568396 0.00958751
+v 0.16784140 0.07722709 0.00638704
+v 0.16712891 0.06840366 -0.00370412
+v 0.16064920 0.07722705 0.01545356
+v 0.16038339 0.06623451 0.01560854
+v 0.16006024 0.03557317 -0.00370424
+v 0.15962568 0.04106465 0.00958742
+v 0.16047163 0.04133043 0.01560845
+v 0.16815794 0.07722709 0.00673867
+v 0.16932705 0.06532803 -0.00370413
+v 0.16112567 0.07722705 0.01560858
+v 0.16431754 0.03449575 -0.00370424
+v 0.16184146 0.02873840 0.00587835
+v 0.16068339 0.02873838 0.00958738
+v 0.15977127 0.03490864 0.00958740
+v 0.16057309 0.03498456 0.01560843
+v 0.16827817 0.07722708 0.00705815
+v 0.17074431 0.06568394 0.01560854
+v 0.16932705 0.06143602 -0.00370414
+v 0.16901713 0.07722707 0.00971421
+v 0.16902485 0.07722705 0.01560858
+v 0.16523849 0.03429641 -0.00370424
+v 0.16523738 0.02873840 0.00561747
+v 0.16095802 0.02873837 0.01418491
+v 0.16063596 0.03418717 0.01560843
+v 0.16057750 0.03481843 0.01560843
+v 0.17074321 0.06557951 0.01560854
+v 0.16910095 0.03670755 -0.00370424
+v 0.16845463 0.03628038 -0.00370424
+v 0.16849764 0.02873840 0.00627534
+v 0.16523077 0.02873836 0.01527569
+v 0.16302270 0.03088846 0.01560841
+v 0.16979800 0.03484691 0.01560843
+v 0.16982447 0.03490864 0.00958740
+v 0.16923771 0.02873838 0.00958171
+v 0.16523849 0.02954050 0.01560841
+v 0.16906235 0.02873837 0.01375957
+v 0.16909985 0.02875261 0.01374255
+v 0.16910095 0.02873837 0.01373499
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 14
+f 1 14 21
+f 1 21 30
+f 1 30 39
+f 1 39 40
+f 1 40 33
+f 1 33 23
+f 1 23 17
+f 1 17 11
+f 1 11 7
+f 1 7 5
+f 1 5 2
+f 2 6 10
+f 2 10 15
+f 2 15 22
+f 2 22 32
+f 2 32 31
+f 2 31 28
+f 2 28 20
+f 2 20 13
+f 2 13 8
+f 2 8 3
+f 2 5 7
+f 2 7 6
+f 4 8 9
+f 6 7 11
+f 6 11 12
+f 6 12 10
+f 8 13 14
+f 8 14 9
+f 10 12 16
+f 10 16 15
+f 11 17 12
+f 12 17 18
+f 12 18 19
+f 12 19 16
+f 13 20 14
+f 14 20 21
+f 15 16 22
+f 16 19 27
+f 16 27 37
+f 16 37 36
+f 16 36 43
+f 16 43 47
+f 16 47 44
+f 16 44 38
+f 16 38 29
+f 16 29 32
+f 16 32 22
+f 17 23 24
+f 17 24 25
+f 17 25 26
+f 17 26 18
+f 18 26 27
+f 18 27 19
+f 20 28 21
+f 21 29 30
+f 21 28 31
+f 21 31 29
+f 23 33 24
+f 24 34 41
+f 24 41 46
+f 24 46 50
+f 24 50 48
+f 24 48 42
+f 24 42 35
+f 24 35 25
+f 24 33 34
+f 25 35 26
+f 26 35 36
+f 26 36 37
+f 26 37 27
+f 29 38 39
+f 29 39 30
+f 29 31 32
+f 33 40 41
+f 33 41 34
+f 35 42 43
+f 35 43 36
+f 38 44 45
+f 38 45 39
+f 39 45 46
+f 39 46 41
+f 39 41 40
+f 42 47 43
+f 42 48 47
+f 44 47 48
+f 44 48 49
+f 44 49 50
+f 44 50 46
+f 44 46 45
+f 48 50 49
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_92.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95c1fb6050bb1888f070cd3fc9a49542e76e6cd0
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_92.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.07782073 0.08902976 0.02744640
+v 0.07782073 0.09745463 0.02744643
+v 0.07739466 0.08895453 0.02744640
+v 0.07091069 0.09052909 0.00791060
+v 0.07782073 0.09062039 0.02283309
+v 0.07782073 0.09593713 0.02286754
+v 0.07091069 0.09606830 0.00791062
+v 0.07145429 0.09854120 0.02744643
+v 0.07109679 0.08855150 0.02744640
+v 0.06537679 0.08851928 0.02183469
+v 0.06537679 0.08980042 0.00791060
+v 0.07782073 0.09592530 0.02283311
+v 0.06689494 0.09656267 0.00791062
+v 0.06537679 0.09673893 0.00791063
+v 0.06543066 0.09890768 0.02744643
+v 0.06537679 0.08843436 0.02744639
+v 0.04037629 0.08855795 0.02744640
+v 0.04665948 0.08871918 0.02183469
+v 0.04096886 0.09041087 0.00791060
+v 0.04096886 0.09590923 0.00791062
+v 0.04041547 0.09941281 0.02744644
+v 0.02780014 0.08911251 0.02744640
+v 0.02780014 0.09099655 0.02188442
+v 0.02780014 0.09104492 0.02174670
+v 0.02780014 0.09573293 0.02174672
+v 0.02780014 0.09764378 0.02744643
+v 0.03941643 0.09929781 0.02744643
+f 1 2 8
+f 1 8 15
+f 1 15 21
+f 1 21 27
+f 1 27 26
+f 1 26 22
+f 1 22 17
+f 1 17 16
+f 1 16 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 7 12
+f 4 12 5
+f 4 11 19
+f 4 19 20
+f 4 20 14
+f 4 14 13
+f 4 13 7
+f 6 12 7
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 9 16 10
+f 10 16 17
+f 10 17 18
+f 10 18 11
+f 11 18 19
+f 14 20 21
+f 14 21 15
+f 17 22 18
+f 18 22 19
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+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_93.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1787c245aca651a2fe1d55c66ae97194eb81dea
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_93.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.08695387 0.09085644 -0.03503647
+v 0.08721727 0.09311494 -0.03503646
+v 0.09093888 0.08573791 -0.03503649
+v 0.09033800 0.09031222 0.00790869
+v 0.09066210 0.09586184 0.00790871
+v 0.08726460 0.09346773 -0.03503646
+v 0.09346283 0.08573791 -0.03503649
+v 0.09313872 0.08709542 0.00790868
+v 0.09614112 0.09586184 0.00790871
+v 0.09064358 0.09580538 0.00346118
+v 0.09061581 0.09572711 -0.00266363
+v 0.09058802 0.09564884 -0.00878424
+v 0.09051805 0.09548438 -0.02102547
+v 0.09049645 0.09545564 -0.02255562
+v 0.09043162 0.09536845 -0.02715028
+v 0.08992128 0.09496018 -0.03503645
+v 0.09550421 0.08576169 -0.03503648
+v 0.09377872 0.08709542 0.00790868
+v 0.09612259 0.09580538 0.00346118
+v 0.09624709 0.09435254 0.00790871
+v 0.09746534 0.09042634 -0.03503647
+v 0.09608659 0.09572711 -0.00266363
+v 0.09604131 0.09564884 -0.00878424
+v 0.09056642 0.09557057 -0.01490065
+v 0.09592916 0.09548438 -0.02102547
+v 0.09589726 0.09545564 -0.02255562
+v 0.09551965 0.09516532 -0.03327089
+v 0.09555052 0.09508902 -0.03503645
+v 0.09579849 0.09536845 -0.02715028
+v 0.09695499 0.08868119 -0.03503647
+v 0.09645699 0.09031222 0.00790869
+v 0.09572646 0.08942032 0.00790869
+v 0.09636645 0.09384828 -0.03503646
+v 0.09598986 0.09557057 -0.01490065
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+f 1 33 21
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+f 28 29 33
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_94.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f260392477c9764b8d9acd11d64310cdb875fb1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_94.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.02779524 0.08911154 0.02744640
+v 0.02779524 0.09764359 0.02744643
+v 0.02740938 0.08898171 0.02744640
+v 0.02149360 0.09044824 0.00791060
+v 0.02779524 0.09099673 0.02188442
+v 0.02779524 0.09573328 0.02174672
+v 0.02149360 0.09614599 0.00791062
+v 0.02171479 0.09890673 0.02744643
+v 0.02169021 0.08862440 0.02744640
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+v 0.02779524 0.09104504 0.02174670
+v 0.01568596 0.09044824 0.00791060
+v 0.01568596 0.09614599 0.00791062
+v 0.01543773 0.09888057 0.02744643
+v 0.01544756 0.08863849 0.02744640
+v 0.01544756 0.08901998 0.02183469
+v 0.00268698 0.08897064 0.02744640
+v 0.00268698 0.09078436 0.02155927
+v 0.00268698 0.09094741 0.02126089
+v 0.00268698 0.09565780 0.02126091
+v 0.00268698 0.09583897 0.02173142
+v 0.00268698 0.09751073 0.02744643
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+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_95.obj b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9233ca6b09dc9c63eb89a550d28dc88bdf7e034b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/mjcf/mesh/utensil_holder_collision_95.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.01813111 0.09007461 0.02951575
+v -0.01813111 0.08913040 0.02795820
+v -0.01813111 0.09645944 0.02951577
+v -0.02827277 0.08945428 0.02951575
+v -0.01813111 0.08976024 0.02598356
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+v -0.02824167 0.08876537 0.02795820
+v -0.03447877 0.08861031 0.02183527
+v -0.03411969 0.08937628 0.01183749
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+v -0.01813111 0.09700700 0.02855183
+v -0.02885520 0.09893236 0.02951578
+v -0.01813111 0.09081842 0.02285115
+v -0.03913256 0.08945322 0.02951575
+v -0.04701517 0.08933718 0.02795820
+v -0.03447877 0.08855332 0.02795820
+v -0.04701517 0.08934879 0.02790455
+v -0.04701517 0.09086167 0.02298959
+v -0.03804121 0.09267525 0.01183750
+v -0.02880430 0.09583601 0.01183751
+v -0.01813111 0.09734249 0.02795823
+v -0.03000027 0.09915390 0.02951578
+v -0.01813111 0.09576423 0.02285117
+v -0.04517457 0.09001026 0.02951575
+v -0.04701517 0.09029827 0.02950364
+v -0.04701517 0.09579905 0.02298961
+v -0.03804121 0.09397922 0.01183751
+v -0.03091915 0.09613352 0.01183751
+v -0.03447877 0.09642681 0.01183751
+v -0.03298028 0.09933009 0.02951578
+v -0.04696145 0.09030988 0.02951575
+v -0.04701517 0.09630647 0.02951577
+v -0.04701517 0.09581698 0.02304153
+v -0.03590940 0.09551846 0.01183751
+v -0.04701517 0.09732561 0.02795996
+v -0.03498486 0.09898933 0.02951578
+v -0.04701517 0.09641831 0.02951577
+v -0.04701517 0.09730767 0.02801707
+f 1 2 5
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+f 26 33 29
+f 26 29 34
+f 26 34 27
+f 29 33 35
+f 29 35 30
+f 30 35 36
+f 35 38 36
+f 36 38 37
+
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/textures/material_0.png b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..509929b3fe1d9418b058ca5279a00e4fa45f802c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:211ef98b70304d360385197a9bfb3c6646baaa2cd8df7cd199fc6699c500c680
+size 3097132
diff --git a/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/video.mp4 b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a6d15886731ed8cf5d670382377460ca978158fc
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/92bf2332f2ba550e8c26e9278d90fd62/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef1755eca3f45248cc9bc3ef05a387d88ff4d5bdd7f69e606b1bff98a7344877
+size 660263