diff --git a/.gitattributes b/.gitattributes
index c59d06461346813d5b6b6199306e025ce5a28f2a..a5696df37a18bd58421809f486bc7f504402bd45 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4214,3 +4214,6 @@ dataset/kitchen_supplies/tableware/5ec47cd32a0e549e875cf3c36ba307e7/mesh/napkin.
 dataset/kitchen_supplies/tableware/5ec47cd32a0e549e875cf3c36ba307e7/mesh/napkin_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/mesh/tray_042.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/5b2c4f2c243b51b89bfc2a55cb35dac2/tray_042.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/633cdccd57f1509dac51737382ba9114.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mesh/metal_colander.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mesh/metal_colander_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/633cdccd57f1509dac51737382ba9114.urdf b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/633cdccd57f1509dac51737382ba9114.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5f3263b2822fe4d3fcae2e0711d2486a4fc28dc4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/633cdccd57f1509dac51737382ba9114.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="metal_colander">
+   <link name="metal_colander">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/metal_colander.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/metal_colander_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.421272</scale>
+         <version>v0.1.7</version>
+         <category>metal colander</category>
+         <description>red metal colander with handles and perforated base</description>
+         <min_height>0.130</min_height>
+         <max_height>0.194</max_height>
+         <real_height>0.162</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <generate_time>20260119185637</generate_time>
+         <gs_model>mesh/metal_colander_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.613962650299072</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>5</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/633cdccd57f1509dac51737382ba9114.usd b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/633cdccd57f1509dac51737382ba9114.usd
new file mode 100644
index 0000000000000000000000000000000000000000..a2134ae0b988646dabf243f0f011498a4c33be85
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/633cdccd57f1509dac51737382ba9114.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18b406bb57bb63e40d2423e2e22e5ee4f7ef90ae112e824c2e7e108857e43843
+size 461925
diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mesh/material.mtl b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mesh/material_0.png b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..dbe9e76e71f6da58c581ef33259cf568be40b2c6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:407a844f726c8122b63f2ea699894542cb0ae810d37b8124b9fe6fd79c9c0bbb
+size 2489149
diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mesh/metal_colander.glb b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mesh/metal_colander.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c06204ef2f3b6aa17a6e461ad9c4486b6b067ac4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mesh/metal_colander.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fcd50d457dad11afc4291252e38c85656a954613817e890e2766f620cdf861b
+size 2804472
diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mesh/metal_colander.obj b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mesh/metal_colander.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9411f10ad17fbc3df8db98d38d6d9b3990751a93
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mesh/metal_colander.obj
@@ -0,0 +1,28782 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mesh/metal_colander_collision.obj b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mesh/metal_colander_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edb29b0f3bd34248ce804c909a8c755902510e5b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mesh/metal_colander_collision.obj
@@ -0,0 +1,17953 @@
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diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/633cdccd57f1509dac51737382ba9114.xml b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/633cdccd57f1509dac51737382ba9114.xml
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+  </worldbody>
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diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 2489149
diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander.obj b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander.obj
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index 0000000000000000000000000000000000000000..3c677105688fe728576a2f5e36a6da970d9b2de3
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+++ b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision.obj b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c11ebdb67292293bde8aace50244e33baed11d7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision.obj
@@ -0,0 +1,17953 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_0.obj b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f34797b130463441f52ba2cba17d4a91ee90a74
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_1.obj b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..415e54e25ffbf105e58d3c0758eac88511aa2e37
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_10.obj b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87094fc91e1297cc3c165534b5763a9beae6e21c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_10.obj
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diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_11.obj b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de37585067f54b96b0a709801ba14bf88c94d06c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_11.obj
@@ -0,0 +1,247 @@
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diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_12.obj b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d9824cf8bb3bd665c34bd2af44b9fc4b372ccd4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_12.obj
@@ -0,0 +1,565 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_13.obj b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29faef5e22b9b6f9dcc60f0ee1ef3be0b334d545
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_13.obj
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diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_14.obj b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c9a13254a3def52ede79dfa8cc61f93dbe82b74
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_14.obj
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diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_15.obj b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c888355cb67197dfd89062fcd536ead348bc9fc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_15.obj
@@ -0,0 +1,406 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_16.obj b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22af2463757bb08c98b24523dc093bd275b75291
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_16.obj
@@ -0,0 +1,742 @@
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diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_17.obj b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b16213b31d84f50a4ced1201567ccbd70552038
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_17.obj
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diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_18.obj b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49cdb0703cf14258fa2d8bbaa0ab8104b9dfea96
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_18.obj
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diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_19.obj b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcd7312ae2342d4e5f909d46fa140f7d60dba8aa
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_19.obj
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diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_2.obj b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c34882e370f8724ca2d8e8b334e6192ebc52067c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_2.obj
@@ -0,0 +1,427 @@
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diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_20.obj b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f766864c545edfea85eb08962fe7e11c5458ed1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_20.obj
@@ -0,0 +1,466 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_21.obj b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b5d3156b90dc0045e16da014b2258c05fec3bf9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_21.obj
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diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_22.obj b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..773a38c93cf2e9ac508d2580b220572fe13f36b7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_22.obj
@@ -0,0 +1,466 @@
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diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_23.obj b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a9463b761a91c92491cf6d9c7ff5a8d54a0dca0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_23.obj
@@ -0,0 +1,595 @@
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diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_24.obj b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..daff6ba8caede7329df5d4f981ed6e903fa85314
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_24.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_25.obj b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99ed1c0da335ead51586ea009de1a0f8aa3f0a15
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_25.obj
@@ -0,0 +1,496 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_26.obj b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0e1eac683d5e1803a27a912997c5f14649d978a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_26.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_27.obj b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca7c0b797f369e64d29d451758778d9b5bb817ca
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_27.obj
@@ -0,0 +1,475 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_28.obj b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82da338e2df034967a2747ecee4ec62a01379d36
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_28.obj
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diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_29.obj b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08a28f4ff1e06aa515ca48e0e5377a025e1d30bb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_29.obj
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diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_3.obj b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0c8f31fc301fd87a60bf704b58282a1cabb94a8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_3.obj
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diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_30.obj b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcddcef3d2592c375e503c0ef16db0f3c77ef6d2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_30.obj
@@ -0,0 +1,187 @@
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diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_31.obj b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6533720e68363137dd71456d68a246847dbbcd87
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_31.obj
@@ -0,0 +1,433 @@
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diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_32.obj b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..837dc0bf40aaf9664905d891a470a10593061ced
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_32.obj
@@ -0,0 +1,478 @@
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diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_33.obj b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e72a2efeda4b1ea70b9791f78889a90aa3ec7798
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_33.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_34.obj b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5ddde6279794e58d0297fe6df8f4a5091542220
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_34.obj
@@ -0,0 +1,481 @@
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diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_35.obj b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee387f20b07921b93403920c4bcad26a7d6fe6ae
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_35.obj
@@ -0,0 +1,199 @@
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+
diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_36.obj b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63809b0d14e7b92e56aa83af34aa59877133cef2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_36.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.04035511 -0.19632652 0.06974465
+v 0.03378456 -0.21390792 0.06967433
+v 0.03374328 -0.21390794 0.07686535
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+
diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_37.obj b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3437e0d475ba40034459ce5c7f6bf1aa8d6d65b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_37.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.03325304 0.21437826 0.07692541
+v 0.03452272 0.21437828 0.06958109
+v 0.03941944 0.19467492 0.06974472
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+
diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_38.obj b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f182610d74f016d0a724894e7914aa9d32edd143
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_38.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v 0.00371518 0.22235513 0.08148377
+v 0.00048449 0.22235513 0.08148069
+v -0.03395717 0.21798290 0.08097115
+v 0.01124390 0.22235513 0.08148224
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+
diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_39.obj b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c463be825e56252183aab58cbd31c3a326143b71
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_39.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.04812830 0.21484734 0.07669334
+v -0.04813522 0.21481977 0.07672092
+v -0.04811210 0.21484734 0.07672555
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+v -0.03418442 0.21484737 0.06890204
+v -0.04079598 0.19472629 0.06558763
+v -0.03904721 0.19472627 0.06977006
+f 1 2 3
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diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_4.obj b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65823836a2f8d19324214b0253e9b1f9d2aad1f4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_4.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_40.obj b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8be361480c1ba3208cf0fb50c0f2b04165e473ea
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_40.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_5.obj b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66c2d2503469fa13f42311fe6e8642eaffdfbe56
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_5.obj
@@ -0,0 +1,577 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_6.obj b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15c6f3605c0d35acae54170a718e3ef2580516d9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_6.obj
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diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_7.obj b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6796875f09918489d7d2b043486435d4a131e74
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_7.obj
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diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_8.obj b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6ea9f924051a8d096574557c72966e0076eb523
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_8.obj
@@ -0,0 +1,607 @@
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diff --git a/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_9.obj b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b26e59ef73d24e32f15760dbbb21db348b619104
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/633cdccd57f1509dac51737382ba9114/mjcf/mesh/metal_colander_collision_9.obj
@@ -0,0 +1,607 @@
+# https://github.com/mikedh/trimesh
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