diff --git a/.gitattributes b/.gitattributes
index 8d79865c3de47b412159b8238124d8676013b8b6..7c49450077e2d9abe25f0ecfb366cd761c3d2448 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4819,3 +4819,6 @@ dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mesh/red_cup_gs.p
dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/d2fce2a71bee50e4be221f1f20afbc53.usd filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/coffee_cup_032.usd filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/ware/d0b8e90cae9d57acbfee957a539b1684/mesh/coffee_cup_032.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/d3ce55c01c6d5e629c8a6a2e65ec266b.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mesh/water_bottle.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mesh/water_bottle_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/d3ce55c01c6d5e629c8a6a2e65ec266b.urdf b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/d3ce55c01c6d5e629c8a6a2e65ec266b.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..90e61b730b1563a87425d030c20f5ce9b40512cb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/d3ce55c01c6d5e629c8a6a2e65ec266b.urdf
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/d3ce55c01c6d5e629c8a6a2e65ec266b.usd b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/d3ce55c01c6d5e629c8a6a2e65ec266b.usd
new file mode 100644
index 0000000000000000000000000000000000000000..fbd02f7827d0cb576542bdd4926874f1f84cc9c0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/d3ce55c01c6d5e629c8a6a2e65ec266b.usd
@@ -0,0 +1,3 @@
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+oid sha256:79d4dbde21b6f5c73a3016f3ba169046cc28098e1ad6894c598ff20505e027db
+size 302283
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mesh/material.mtl b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
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+newmtl material_0
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mesh/material_0.png b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mesh/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mesh/water_bottle.glb b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mesh/water_bottle.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8373afea4e9bc3c97a4e873c5474c11e9c65a58b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mesh/water_bottle.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 2055444
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mesh/water_bottle.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mesh/water_bottle.obj
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mesh/water_bottle.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mesh/water_bottle_collision.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mesh/water_bottle_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce6ae3c06784480a9fcac92751c608eef56de5b4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mesh/water_bottle_collision.obj
@@ -0,0 +1,16375 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mesh/water_bottle_gs.ply b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mesh/water_bottle_gs.ply
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diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..211caa4eb6f62fb76e4b57cb87b781797844e604
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision.obj
@@ -0,0 +1,16375 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_0.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88b52d307b4224c24be8756ec2e749fd5528ec11
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_0.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_1.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b76e07ab4cd353ab39a54355ed8edeef7a5e1da1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_1.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_10.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1571dcd9513edc665682f89b50f6f731dfd6bcb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_10.obj
@@ -0,0 +1,289 @@
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diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_11.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d74a6739b48009a7dfde0134d2e3fc6b7a6ec37
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_11.obj
@@ -0,0 +1,574 @@
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diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_12.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ff931012e7c8ffedc24263ae8268ddd7fa10d4f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_12.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_13.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4981d9a04db0eae58217275bb2f3b563d049e85
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_13.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_14.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0874767e1315168994d241e50132861138684839
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_14.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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+v 0.04578496 -0.00391445 0.05860997
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+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_15.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5775ebbc45be548af0da281c4416b70fa6aea32
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_15.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
+v 0.01860842 0.02254434 0.09288514
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+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_16.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..670cb0a8e57599e946ba5df4d64ae47dbd912e71
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_16.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.05333050 0.00039796 -0.11219749
+v 0.04629469 0.00039796 -0.11219749
+v 0.05330459 0.00039796 -0.11281100
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diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_17.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48eaff0c66fc72046fec9dfed428966ff28d9da1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_17.obj
@@ -0,0 +1,322 @@
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diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_18.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f2d0eb6f33c81f3a97c916ba52cf1478cda0c77
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_18.obj
@@ -0,0 +1,511 @@
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diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_19.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16a9d04acb9971e04edc253e6fd191d0f802e749
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_19.obj
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diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_2.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd006ea2247097101987ff332dba4fe686b3af59
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_2.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.04835327 0.00039600 -0.01419553
+v -0.03596596 0.03277280 -0.01419541
+v -0.05332428 0.00039600 -0.01419553
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+v -0.05342737 0.00560972 -0.10643739
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+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_20.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57031eb6eb582733c3fd40d1e95f1b722d950a45
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_20.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.00164225 -0.04831729 -0.01418787
+v 0.02073401 -0.04357528 -0.01418785
+v 0.00164225 -0.05230178 -0.01418788
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+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_21.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..847fc8cb11917e8a299c0c75356ab8ca6f109bcc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_21.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
+v 0.02798340 0.00198631 0.12914718
+v 0.02768430 0.00198629 0.13367636
+v 0.02763789 -0.00249620 0.13367634
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diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_22.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53f8e810286cd05b890e05ad0a9772594d428eb5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_22.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_23.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fdb2b96d26f5055f99284670272b22293196f0f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_23.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_24.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f70a5ed50f4eb67b3f77628e437663ff17ceb82
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_24.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_25.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51a992ef4e3de1da9042b613de058b40e7d69969
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_25.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_26.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2462ab56e7df0f60d375c48ea07b695bead3432
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_26.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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+v -0.00679965 0.04616003 0.07314459
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diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_27.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e34dcdba2f8c60282b4af47e9f2a725f063cb896
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_27.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
+v -0.01414458 0.01635172 0.10374019
+v -0.02134224 0.00017872 0.10374013
+v -0.01414458 0.01658158 0.10309329
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+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_28.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed1686587874bb766e1a91906d0047f95573d971
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_28.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.00663863 -0.03836101 -0.11543168
+v 0.00703373 -0.03836101 -0.11553382
+v 0.00665073 -0.03834675 -0.11543168
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+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_29.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e2bb054fd9da35b73198801a928fc3db9ee5def
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_29.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.00164225 0.05368549 -0.01419533
+v 0.00247511 0.05368403 -0.01419533
+v 0.00164225 0.04875966 -0.01419535
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+v 0.00401165 0.05357340 -0.01419533
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+v 0.02133774 0.04403035 -0.01419537
+v 0.02133774 0.04225298 0.00229562
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+v 0.00221677 0.05522532 0.04305990
+v 0.00456881 0.05353119 -0.01419533
+v 0.00665095 0.05474933 0.04305990
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+v 0.01002093 0.05374509 0.00838179
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+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_3.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..670ecaa2e77ab2510c0df84c0f583cc8c0e99295
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_3.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.03352843 -0.03441079 -0.01420543
+v -0.04835375 0.00039600 -0.01420530
+v -0.04025044 -0.03441079 -0.01420543
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+v -0.04388591 -0.03100678 -0.10643784
+v -0.04125829 -0.03441045 -0.10644763
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+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_30.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43f9bffcbd0e10e9ae82014acac5c9a0104f6bb3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_30.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_31.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..195af22fae6c6f71e70ce48087ce504ac3f4271f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_31.obj
@@ -0,0 +1,469 @@
+# https://github.com/mikedh/trimesh
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+v -0.04761680 0.00017445 0.05249170
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+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_32.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8176003d09df1238ed18495e31aaac45b34b660c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_32.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.04576502 -0.02912245 0.04293360
+v 0.03981105 -0.02912245 0.04293360
+v 0.04577646 -0.02912245 0.04287209
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+v 0.04806689 -0.02579623 0.03853261
+v 0.05413719 -0.00391685 0.04293370
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+f 34 36 35
+f 38 41 39
+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_33.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddb5c6b9721f82b284a42a7891edab20a93f9d89
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_33.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+v 0.04314212 0.01540535 0.02946931
+v 0.04333159 0.01540524 0.05861004
+v 0.03499317 0.03006095 0.05861009
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+v 0.04625632 0.01540551 -0.01419547
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+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_34.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac6c1df49e6d83773fb57d143eaa556f2cd32f31
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_34.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.00262989 -0.03876218 -0.11567301
+v 0.00262989 -0.02937282 -0.11504269
+v 0.00221480 -0.02490508 -0.11460716
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+v -0.00706485 -0.03876217 -0.11615010
+v 0.00262294 -0.03876216 -0.12055991
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+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_35.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25d4d8638b7939c53e5214b6427b9ab98dacf71a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_35.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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+v -0.03345407 0.01564464 -0.13663698
+v -0.02268309 0.00039794 -0.13622260
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+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_36.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..126866de020852dd883df16cf99642a0182a7a56
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_36.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_37.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a66272348afd9a425f140aa9c76d16190995a1c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_37.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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+v 0.01936500 -0.02632373 0.09642232
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+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_38.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d38eedfa0a50d8499150f2456ea572f086b475c8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_38.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.01511313 -0.05107232 -0.11406286
+v -0.01511313 -0.04515903 -0.11406284
+v -0.01552328 -0.05099077 -0.11406286
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+v -0.01709266 -0.04368016 -0.11406283
+v -0.01511313 -0.04282280 -0.11581506
+v -0.01753720 -0.05030533 -0.11406285
+v -0.01810331 -0.04970142 -0.12003657
+v -0.01785771 -0.04960223 -0.12266261
+v -0.01552328 -0.05056318 -0.12003658
+v -0.01563011 -0.05004743 -0.12432954
+v -0.01511313 -0.05024580 -0.12384306
+v -0.02765838 -0.04003477 -0.11406282
+v -0.01511313 -0.02875693 -0.13291079
+v -0.01867556 -0.04991743 -0.11406285
+v -0.02746436 -0.04552928 -0.12003656
+v -0.02701859 -0.04528684 -0.12334967
+v -0.01958428 -0.04853770 -0.12432954
+v -0.01717862 -0.04935978 -0.12568291
+v -0.01511313 -0.04996367 -0.12556071
+v -0.01511313 -0.05018628 -0.12435720
+v -0.02765838 -0.04585549 -0.11406284
+v -0.02765838 -0.03003744 -0.13475063
+v -0.01511313 -0.02863130 -0.13324740
+v -0.02669931 -0.04628968 -0.11406284
+v -0.02765838 -0.04576954 -0.11534704
+v -0.02765838 -0.04563729 -0.11722838
+v -0.02765838 -0.04541688 -0.12003656
+v -0.02471732 -0.04609348 -0.12474222
+v -0.02765838 -0.04475126 -0.12390299
+v -0.02641196 -0.04485044 -0.12636764
+v -0.02328547 -0.04559978 -0.12909514
+v -0.02237429 -0.04516338 -0.13153443
+v -0.01511313 -0.04895865 -0.12861789
+v -0.01511313 -0.02855857 -0.13357709
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+v -0.02765838 -0.04363824 -0.12772793
+v -0.02765838 -0.04309606 -0.12927266
+v -0.02550324 -0.04442726 -0.12909513
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+v -0.02765838 -0.04120282 -0.13362556
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+v -0.01511313 -0.02948864 -0.13639220
+v -0.02765838 -0.03386794 -0.13761647
+v -0.02765838 -0.03821200 -0.13669887
+v -0.02765838 -0.03504707 -0.13757958
+v -0.02439190 -0.03386795 -0.13741819
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+v -0.01979304 -0.03856464 -0.13679109
+v -0.01820523 -0.04019779 -0.13565216
+v -0.01694407 -0.03721360 -0.13631614
+v -0.01511313 -0.03363213 -0.13649136
+v -0.01548889 -0.03383710 -0.13653745
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+f 1 13 22
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+f 1 7 3
+f 1 3 4
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+f 22 26 25
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+f 39 42 40
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+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_39.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3dbb24e9ec498d4917008ab8f49bbfa27694559e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_39.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.01928874 0.00646582 0.10664766
+v 0.01928529 0.00646582 0.10649497
+v 0.01928874 0.00646582 0.10649157
+v 0.01928874 0.00660032 0.11102142
+v 0.00164225 0.02087963 0.11102148
+v 0.00164225 0.02087379 0.11043786
+v 0.00164225 0.02085041 0.10649503
+v 0.00164225 0.02177742 0.10374997
+v 0.00164225 0.02980464 0.09339754
+v 0.00164225 0.03021112 0.09288517
+v 0.01928874 0.02198801 0.09288514
+v 0.01928874 0.01267986 0.12754944
+v 0.00164225 0.02384481 0.12754948
+v 0.00164225 0.03633751 0.09288519
+v 0.01928874 0.02970229 0.09288517
+v 0.01928874 0.02070704 0.12754947
+v 0.00164225 0.02828388 0.12754949
+v 0.00221745 0.03633751 0.09288519
+v 0.00164225 0.03222295 0.11466236
+v 0.01739213 0.03096851 0.09288517
+v 0.01834907 0.02708205 0.11389209
+v 0.01928874 0.02597960 0.11195800
+v 0.01781878 0.02221890 0.12754947
+v 0.01928874 0.02523682 0.11495414
+v 0.00221745 0.02828680 0.12754949
+v 0.00221745 0.03222295 0.11466236
+v 0.00665153 0.03193052 0.11438412
+v 0.00982120 0.03148603 0.11385479
+v 0.00665153 0.03557720 0.09288519
+v 0.01522777 0.03222011 0.09288518
+v 0.01167291 0.02586257 0.12754948
+v 0.01303923 0.02509348 0.12754948
+v 0.01551969 0.02369274 0.12754948
+v 0.01513622 0.03227275 0.09288518
+v 0.00665153 0.02760837 0.12754949
+v 0.00945673 0.02685975 0.12754949
+v 0.01023922 0.02650884 0.12754949
+v 0.01135680 0.03411505 0.09288519
+v 0.01123416 0.03415892 0.09288519
+v 0.00802131 0.03520581 0.09288519
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+f 21 24 22
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+f 28 35 36
+f 28 36 37
+f 28 37 31
+f 28 34 38
+f 28 38 39
+f 28 39 40
+f 28 40 29
+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_4.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e3fe02b4beac4388d4b30789d8f8f58cd7e1032
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_4.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v -0.03194436 -0.03601856 -0.01418913
+v 0.00164225 -0.04831731 -0.01418918
+v -0.03194436 -0.04236805 -0.01418916
+v -0.03194436 -0.03395259 0.00124811
+v 0.00164225 -0.05230223 -0.01418919
+v -0.03194436 -0.03381415 0.00229249
+v 0.00164225 -0.04450772 0.01680932
+v -0.03152354 -0.04268173 -0.01418916
+v -0.03098108 -0.04499240 0.03853240
+v -0.03194436 -0.04422224 0.03853241
+v -0.00222074 -0.05230656 -0.01418919
+v 0.00164225 -0.05357005 0.00783415
+v 0.00073157 -0.05409142 0.00890464
+v -0.03194436 -0.03287962 0.01588248
+v -0.03194436 -0.03258325 0.02032761
+v -0.03194436 -0.03257892 0.02040594
+v -0.03194436 -0.03251837 0.02443333
+v -0.03194436 -0.03251188 0.02494246
+v -0.03194436 -0.03247512 0.02947246
+v 0.00164225 -0.04450773 0.01981844
+v -0.02960027 -0.04410956 -0.01418916
+v -0.02876520 -0.04629475 0.03853240
+v -0.02859753 -0.04619958 0.04306240
+v -0.03081341 -0.04483233 0.04306241
+v -0.03194436 -0.04394535 0.04306241
+v -0.02879808 -0.04463742 -0.01418916
+v -0.02738110 -0.04555036 -0.01418917
+v -0.00505469 -0.05224598 -0.01418919
+v -0.00072486 -0.05409142 0.00890464
+v 0.00164225 -0.05457612 0.03853237
+v -0.03194436 -0.03548661 0.05248796
+v 0.00164225 -0.04474575 0.02876094
+v -0.02463263 -0.04853600 0.03853239
+v -0.02232141 -0.04962202 0.04184829
+v -0.02403757 -0.04859659 0.04323862
+v -0.02208799 -0.04944247 0.04487047
+v -0.02809452 -0.04592484 0.04759239
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+v -0.03194436 -0.04330068 0.04759893
+v -0.02438935 -0.04706688 -0.01418917
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+v -0.00665577 -0.05220704 -0.01418919
+v -0.01109081 -0.05185874 -0.01418919
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+v -0.00551167 -0.05415209 0.03593448
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+v -0.00103061 -0.05412617 0.04597357
+v -0.03194436 -0.04216060 0.05248794
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+v -0.02241675 -0.04966744 0.03853239
+v -0.02034883 -0.05026022 0.04323862
+v -0.01995431 -0.05056307 0.03853238
+v -0.01936582 -0.05015423 0.04759238
+v -0.02158169 -0.04913961 0.04759238
+v -0.02438935 -0.04685511 0.05212239
+v -0.02723645 -0.04543378 0.05212239
+v -0.02945561 -0.04405787 0.05212240
+v -0.03194436 -0.04228391 0.05212240
+v -0.02081567 -0.04882353 -0.01418918
+v -0.02001677 -0.04920862 -0.01418918
+v -0.01859980 -0.04987709 -0.01418918
+v -0.01552256 -0.05088739 -0.01418919
+v -0.00239169 -0.05427327 0.04320597
+v -0.00514674 -0.05411101 0.04179606
+v -0.01552256 -0.05171617 0.04306238
+v -0.01552256 -0.05184379 0.03853238
+v 0.00164225 -0.05374758 0.04667853
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+v -0.00222074 -0.05232411 0.05248790
+v -0.00630071 -0.05212291 0.05248790
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+v -0.02936355 -0.04399946 0.05248793
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+v -0.01851432 -0.04984056 0.05113674
+v -0.02438606 -0.04676425 0.05248792
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+v -0.02903479 -0.04421580 0.05248793
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+v -0.01586119 -0.05041385 0.05243568
+v -0.01809021 -0.04962639 0.05248791
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+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_40.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e1a9b63ecb5f26dd08a1feae085062ee770dd9d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_40.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v 0.02226788 0.03335683 -0.13759547
+v 0.02226788 0.03800857 -0.13716705
+v 0.02439042 0.03783700 -0.13740118
+v 0.02882441 0.03335683 -0.13763782
+v 0.03303837 0.02909835 -0.13749337
+v 0.02226788 0.03030321 -0.13658175
+v 0.02226788 0.03952574 -0.13675856
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diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_41.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..841ab10e15e730319a4d31c6b34b9002a2ea6bee
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_41.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.04908593 -0.02068681 -0.11220591
+v 0.04931126 -0.02022866 -0.11220590
+v 0.04558775 -0.02068681 -0.11220591
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+v 0.04900650 -0.01879640 -0.12003652
+v 0.04995318 -0.01594018 -0.12003651
+v 0.05121759 -0.01145773 -0.12003649
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+v 0.03677261 0.00039431 -0.11506513
+v 0.03677261 -0.00697944 -0.11485445
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+v 0.04762377 -0.02000367 -0.12414538
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+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_42.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..442535f639c3d9dd66b8ecb22d0771604a97923c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_42.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.01528350 0.01338979 0.10937253
+v 0.00164225 0.02087844 0.11102450
+v -0.01528350 0.01340841 0.11102447
+v -0.01528350 0.01340284 0.10649604
+v 0.00164225 0.02084865 0.10649607
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+v -0.01528350 0.01383141 0.10570941
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+v -0.01528350 0.01384631 0.10569105
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+v -0.01528350 0.02369757 0.13052796
+v -0.01528350 0.01548418 0.10374019
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+v -0.00633265 0.02951307 0.10374024
+v -0.01125048 0.03037389 0.11085410
+v -0.00823649 0.02875843 0.10374024
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+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_43.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69af5c26d7f1e13d9fd91b8e130c96177c9e3af6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_43.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.01936220 -0.02632188 0.09642376
+v 0.01936220 -0.02632185 0.08757351
+v 0.01936220 -0.02066873 0.10293677
+v 0.01547338 -0.02389872 0.10293676
+v 0.01919221 -0.02632188 0.09657596
+v 0.01384640 -0.03400316 0.09095807
+v 0.01384640 -0.03504922 0.08949031
+v 0.01936220 -0.00932343 0.10293682
+v 0.01305718 -0.03541646 0.08949031
+v 0.01159845 -0.03602573 0.08949031
+v 0.00991075 -0.03661553 0.08949031
+v 0.00777728 -0.03707457 0.08949030
+v 0.00665157 -0.03727766 0.08949030
+v 0.00221811 -0.03773949 0.08949030
+v 0.00164399 -0.03773671 0.08949030
+v 0.00164399 -0.03191383 0.08949032
+v 0.01030622 -0.02632469 0.10296689
+v 0.01489579 -0.02430768 0.10293676
+v 0.01286812 -0.03139638 0.09494995
+v 0.00635670 -0.02826379 0.10296689
+v 0.01195749 -0.03561398 0.08993335
+v 0.00164225 -0.02142267 0.10293677
+v 0.00164399 -0.02632469 0.10296689
+v 0.00900186 -0.03615093 0.09070339
+v 0.00665157 -0.03638462 0.09104246
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+v 0.00164225 -0.02632191 0.10293675
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+v 0.00221811 -0.02919301 0.10296688
+v 0.00164399 -0.02918466 0.10296688
+v 0.00164399 -0.03666284 0.09145234
+f 1 2 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 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 16
+f 2 16 8
+f 3 8 17
+f 3 17 4
+f 4 17 18
+f 4 18 5
+f 5 18 6
+f 6 19 20
+f 6 20 21
+f 6 21 7
+f 6 18 19
+f 7 21 9
+f 8 22 23
+f 8 23 17
+f 8 16 22
+f 9 21 10
+f 10 21 24
+f 10 24 11
+f 11 24 12
+f 12 24 25
+f 12 25 13
+f 13 25 26
+f 13 26 14
+f 14 26 15
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 16
+f 16 29 22
+f 17 23 31
+f 17 31 30
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+f 17 20 18
+f 18 20 19
+f 20 30 24
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+f 24 30 25
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+f 26 31 32
+f 26 32 27
+f 27 32 28
+f 28 32 31
+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_44.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..970d751a1a7baf2a64abf81ae66f0a0c5514fc46
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_44.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.00017105 0.03930399 -0.13084738
+v -0.00017105 0.02291086 -0.13636685
+v -0.00017105 0.03930396 -0.12196060
+v 0.00225139 0.03930400 -0.13286780
+v -0.00017105 0.02152934 -0.13661175
+v 0.00267307 0.03930400 -0.13309433
+v 0.01957747 0.03822435 -0.13687037
+v -0.00017105 0.03925108 -0.12197131
+v 0.00057127 0.03930396 -0.12198968
+v -0.00017105 0.01991206 -0.13685054
+v 0.02011335 0.03930401 -0.13662853
+v 0.02226566 0.03930401 -0.13681986
+v 0.02226566 0.03800621 -0.13716731
+v 0.01995302 0.03335489 -0.13759131
+v -0.00017105 0.02960028 -0.12610708
+v 0.00665264 0.03930396 -0.12233866
+v 0.00221625 0.01991206 -0.13689340
+v -0.00017105 0.01847325 -0.13663320
+v 0.02226566 0.03930398 -0.12836318
+v 0.02226566 0.03335489 -0.13759591
+v -0.00017105 0.02025576 -0.13047857
+v 0.00221625 0.02029763 -0.13056276
+v 0.00913658 0.03930396 -0.12248866
+v 0.00221625 0.01679427 -0.13642045
+v -0.00017105 0.01685376 -0.13637606
+v 0.02226566 0.03030099 -0.13498468
+v 0.01744273 0.03930397 -0.12479072
+v 0.02226566 0.03030099 -0.13658264
+v 0.00526462 0.01726359 -0.13618320
+v -0.00017105 0.01801493 -0.13188062
+v 0.00221625 0.01805679 -0.13186225
+v 0.00561163 0.02089254 -0.13094081
+v 0.01224425 0.03930396 -0.12277642
+v 0.00221625 0.01679426 -0.13412758
+v -0.00017105 0.01685375 -0.13414594
+v 0.00856776 0.02237762 -0.13166632
+v 0.00691619 0.01955290 -0.13317553
+v 0.00526462 0.01726358 -0.13468472
+v 0.01545953 0.03930396 -0.12372387
+v 0.01349610 0.03930396 -0.12303204
+f 1 2 5
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+f 1 18 25
+f 1 25 35
+f 1 35 30
+f 1 30 21
+f 1 21 15
+f 1 15 8
+f 1 8 3
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+f 1 9 16
+f 1 16 23
+f 1 23 33
+f 1 33 40
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+f 1 39 27
+f 1 27 19
+f 1 19 12
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+f 1 11 6
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+f 1 4 2
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+f 8 15 9
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+f 10 14 17
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+f 12 28 20
+f 12 20 13
+f 13 20 14
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+f 15 21 22
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+f 17 20 24
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+f 21 30 31
+f 21 31 22
+f 22 31 32
+f 22 32 33
+f 22 33 23
+f 24 29 38
+f 24 38 34
+f 24 34 35
+f 24 35 25
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+f 26 36 37
+f 26 37 38
+f 26 38 29
+f 26 29 28
+f 27 39 32
+f 27 32 36
+f 30 35 34
+f 30 34 31
+f 31 34 38
+f 31 38 37
+f 31 37 32
+f 32 37 36
+f 32 39 40
+f 32 40 33
+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_45.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11d68a56efcad3628fdd0edf760e7d9946ae9dc1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_45.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.01635880 -0.05099326 -0.11220602
+v 0.01823015 -0.05036631 -0.11220602
+v 0.01635880 -0.04581617 -0.11220600
+v 0.01635880 -0.05037053 -0.12003620
+v 0.01821555 -0.04975208 -0.12003619
+v 0.01908365 -0.05007727 -0.11220601
+v 0.02879593 -0.03930868 -0.11220597
+v 0.01635880 -0.02930297 -0.13369358
+v 0.01635880 -0.04987321 -0.12364391
+v 0.01786002 -0.04960118 -0.12255807
+v 0.02753700 -0.04556961 -0.12003618
+v 0.02803010 -0.04589692 -0.11220600
+v 0.02879593 -0.04541237 -0.11220600
+v 0.02879593 -0.02931784 -0.13432091
+v 0.01635880 -0.02928170 -0.13680751
+v 0.01635880 -0.04958417 -0.12503460
+v 0.01696514 -0.04927176 -0.12557374
+v 0.01958527 -0.04849392 -0.12426620
+v 0.02472327 -0.04612003 -0.12478266
+v 0.02705851 -0.04531245 -0.12341717
+v 0.02879593 -0.04465362 -0.12123790
+v 0.02879593 -0.04484278 -0.12003617
+v 0.02879593 -0.04517433 -0.11550637
+v 0.02879593 -0.02931783 -0.13718291
+v 0.01635880 -0.02984702 -0.13693601
+v 0.01635880 -0.04937590 -0.12597181
+v 0.02236612 -0.04515940 -0.13151943
+v 0.02328902 -0.04559083 -0.12909581
+v 0.02642417 -0.04486826 -0.12643535
+v 0.02865105 -0.04398203 -0.12478265
+v 0.02879593 -0.04389065 -0.12477509
+v 0.02879593 -0.03386796 -0.13777749
+v 0.02438845 -0.03386796 -0.13794376
+v 0.01995540 -0.03386796 -0.13769182
+v 0.01635880 -0.03386373 -0.13695365
+v 0.01635880 -0.04810287 -0.12906055
+v 0.02550615 -0.04445170 -0.12909580
+v 0.01635880 -0.04597548 -0.13213416
+v 0.02348017 -0.04102153 -0.13618276
+v 0.02643635 -0.04051573 -0.13582249
+v 0.02794609 -0.04145935 -0.13280177
+v 0.02879593 -0.04242209 -0.12937041
+v 0.02879593 -0.04349110 -0.12604233
+v 0.02473058 -0.03875390 -0.13691840
+v 0.02879593 -0.03749576 -0.13667150
+v 0.01993714 -0.03840961 -0.13671685
+v 0.01635880 -0.03470532 -0.13677478
+v 0.01635880 -0.03554479 -0.13651026
+v 0.01704184 -0.03695807 -0.13627596
+v 0.02140427 -0.04102153 -0.13618276
+v 0.02879593 -0.03991004 -0.13428819
+v 0.02879593 -0.04032447 -0.13365079
+v 0.02879593 -0.04116393 -0.13231553
+v 0.02879593 -0.04195666 -0.13046380
+f 1 2 6
+f 1 6 12
+f 1 12 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 25
+f 1 25 35
+f 1 35 47
+f 1 47 48
+f 1 48 38
+f 1 38 36
+f 1 36 26
+f 1 26 16
+f 1 16 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
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+f 7 43 42
+f 7 42 54
+f 7 54 53
+f 7 53 52
+f 7 52 51
+f 7 51 45
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+f 7 24 14
+f 7 14 8
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+f 9 16 17
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+f 26 36 27
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+f 29 42 43
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+f 32 45 44
+f 33 44 34
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+f 34 47 35
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+f 40 45 51
+f 40 51 41
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+f 41 54 42
+f 44 50 46
+f 46 50 49
+f 46 49 48
+f 46 48 47
+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_46.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d8dbb53ec7b14a46fc506a5f5352b135764c967
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_46.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.02767180 -0.00391141 0.12754938
+v 0.02791630 -0.00249640 0.12754938
+v 0.02298738 -0.00391141 0.12754938
+v 0.03183607 -0.00391136 0.11436363
+v 0.02795367 0.00040601 0.12754939
+v 0.03198869 -0.00249635 0.11454007
+v 0.03204476 0.00198560 0.11459439
+v 0.01928874 0.01268037 0.12754944
+v 0.01948964 -0.00391135 0.11107907
+v 0.03493203 -0.00391128 0.09288505
+v 0.03501456 -0.00339792 0.09288505
+v 0.03515940 -0.00249627 0.09288505
+v 0.02797236 0.00198555 0.12754940
+v 0.03175977 0.00646755 0.11432634
+v 0.03519833 0.00198568 0.09288507
+v 0.01928874 0.02070313 0.12754947
+v 0.01928874 0.00660248 0.11102142
+v 0.01928874 0.00659590 0.11082122
+v 0.01928874 0.00646758 0.10664766
+v 0.01928874 0.00646758 0.10649157
+v 0.01954882 -0.00391133 0.10643047
+v 0.02894102 -0.00391128 0.09288505
+v 0.02729026 0.00646750 0.12754941
+v 0.03137355 0.00973852 0.11382078
+v 0.03499588 0.00356852 0.09288507
+v 0.03460811 0.00646763 0.09288508
+v 0.02018109 0.01978831 0.12754946
+v 0.02295312 0.02293757 0.11409567
+v 0.01928874 0.02523778 0.11495414
+v 0.01928874 0.02198664 0.09288514
+v 0.02049411 -0.00391132 0.10420796
+v 0.02113417 -0.00391132 0.10309840
+v 0.02668446 0.00891250 0.12754942
+v 0.02708936 0.01832399 0.11391921
+v 0.02573761 0.01115019 0.12754943
+v 0.03450688 0.00698428 0.09288509
+v 0.03340118 0.01102198 0.09288510
+v 0.03336848 0.01112070 0.09288510
+v 0.03187345 0.01486553 0.09288511
+v 0.03159780 0.01542825 0.09288512
+v 0.02106253 0.01887349 0.12754946
+v 0.01928874 0.02597820 0.11195800
+v 0.02219626 0.01769542 0.12754945
+v 0.02500411 0.02502067 0.09288515
+v 0.02277714 0.02713660 0.09288516
+v 0.02020601 0.02908141 0.09288517
+v 0.01928874 0.02970007 0.09288517
+v 0.02256379 0.01708663 0.12754945
+v 0.02345146 0.01557620 0.12754945
+v 0.02432200 0.01392426 0.12754944
+v 0.03090791 0.01679718 0.09288512
+v 0.02901421 0.01993981 0.09288513
+v 0.02894569 0.02004512 0.09288513
+v 0.02705510 0.02271388 0.09288514
+v 0.02000355 0.02922291 0.09288517
+f 1 2 5
+f 1 5 13
+f 1 13 23
+f 1 23 33
+f 1 33 35
+f 1 35 50
+f 1 50 49
+f 1 49 48
+f 1 48 43
+f 1 43 41
+f 1 41 27
+f 1 27 16
+f 1 16 8
+f 1 8 3
+f 1 3 9
+f 1 9 21
+f 1 21 31
+f 1 31 32
+f 1 32 22
+f 1 22 10
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+f 23 24 33
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+f 24 26 36
+f 24 36 37
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+f 27 41 28
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+f 28 41 43
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+f 28 34 44
+f 28 44 45
+f 28 45 46
+f 28 46 42
+f 30 32 31
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+f 34 49 50
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+f 34 40 51
+f 34 51 52
+f 34 52 53
+f 34 53 54
+f 34 54 44
+f 42 46 55
+f 42 55 47
+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_47.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccd89d80b4ac12b72365ac5f7307bda92e90da39
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_47.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.02914583 0.02909641 -0.13670346
+v 0.02922913 0.02909641 -0.13672080
+v 0.02919373 0.01675228 -0.13664408
+v 0.02914583 0.02909641 -0.13484372
+v 0.03303968 0.02909642 -0.13749094
+v 0.03326040 0.02887289 -0.13748352
+v 0.03318960 0.01675228 -0.13665646
+v 0.02919789 0.01675227 -0.13410334
+v 0.03896582 0.02909632 -0.11219494
+v 0.03325832 0.02909641 -0.13745380
+v 0.03755820 0.02846567 -0.13659947
+v 0.03769355 0.02439124 -0.13711456
+v 0.03764150 0.02002440 -0.13658464
+v 0.03548635 0.01675228 -0.13628749
+v 0.03892418 0.01675222 -0.12031497
+v 0.04026099 0.01675222 -0.11851218
+v 0.04234326 0.01675221 -0.11582534
+v 0.04535839 0.01675219 -0.11219499
+v 0.04497109 0.02909632 -0.11219494
+v 0.03699183 0.02909641 -0.13663165
+v 0.03725836 0.02909641 -0.13654003
+v 0.03994657 0.02669912 -0.13592837
+v 0.04016104 0.02439124 -0.13609677
+v 0.04020685 0.02159279 -0.13612898
+v 0.03612769 0.01709544 -0.13619587
+v 0.04122508 0.01675227 -0.13332576
+v 0.05041623 0.01675219 -0.11219499
+v 0.04537088 0.02846075 -0.11219495
+v 0.04480867 0.02909633 -0.11550584
+v 0.03914489 0.02909640 -0.13473476
+v 0.04036927 0.02909640 -0.13279082
+v 0.04050046 0.02846566 -0.13320934
+v 0.04377795 0.02518508 -0.12985387
+v 0.04436098 0.02219813 -0.13138676
+v 0.04653904 0.01675226 -0.12945273
+v 0.04594351 0.01675226 -0.13012135
+v 0.04460252 0.01675226 -0.13156507
+v 0.04941049 0.01994577 -0.11219498
+v 0.05019758 0.01675220 -0.11550589
+v 0.04938758 0.01934766 -0.11550588
+v 0.04747397 0.02410599 -0.11219496
+v 0.04527094 0.02833872 -0.11550585
+v 0.04434849 0.02909635 -0.12003757
+v 0.04217043 0.02909638 -0.12873702
+v 0.04262020 0.02842698 -0.12864541
+v 0.04434641 0.02663505 -0.12683519
+v 0.04475870 0.02397072 -0.12864542
+v 0.04844223 0.01675224 -0.12580258
+v 0.04989566 0.01675222 -0.11850723
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+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_48.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce8b235bd146fc887551ee7996995a36e6c3e868
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_48.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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+v -0.00017105 0.01685328 -0.13637627
+v -0.00017105 0.01801612 -0.13188093
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+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_49.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7392120b22d048e696f1b6803c58bee7c9e8628
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_49.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_5.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75dc542f14f129ea3eabf01fa68b8baac31183dd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_5.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
+v -0.03194659 -0.04422300 0.03853241
+v -0.03194659 -0.04394485 0.04306241
+v -0.03585811 -0.04090678 0.04306242
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diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_50.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef9cd4292328ccc1602b288b507f292ac11507e8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_50.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_51.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7ad441031939415e9054796fb13e279f6583106
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_51.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_52.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..329a018686288557620437e59dd1dd7b119a9e94
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_52.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
+v -0.02882779 -0.03386627 -0.13768690
+v -0.02765838 -0.03386627 -0.13761522
+v -0.02765838 -0.03504456 -0.13757822
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diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_53.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f2cd09ca1ce0f49c30498212a9830e32696b242
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_53.obj
@@ -0,0 +1,307 @@
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diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_54.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8817a61a3603e0502688d3c5cf62e74f2b7e12e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_54.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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+v -0.04438205 -0.02230012 -0.13141693
+v -0.04751868 -0.00697949 -0.13446732
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+f 53 69 54
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+f 54 72 68
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+f 59 73 60
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+f 72 77 75
+f 75 77 76
+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_55.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41eccd3e0dc6363da349f9a882a25906329be927
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_55.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.03676899 -0.02068674 -0.13000956
+v 0.02906393 -0.02068672 -0.13479564
+v 0.03676899 -0.02068672 -0.13692226
+v 0.03676899 -0.01136488 -0.11628977
+v 0.03003256 -0.00981707 -0.11696903
+v 0.02643367 -0.01840010 -0.13562852
+v 0.02906393 -0.02068672 -0.13678065
+v 0.02548102 -0.00588977 -0.11650337
+v 0.02212778 -0.00035483 -0.11320062
+v 0.03353359 -0.02068671 -0.13765912
+v 0.03676899 -0.02062481 -0.13691986
+v 0.03676899 -0.00697944 -0.11485441
+v 0.03325798 -0.00697944 -0.11477041
+v 0.03325798 -0.01041349 -0.11646738
+v 0.01708295 -0.00573492 -0.13504520
+v 0.02643367 -0.01840010 -0.13607736
+v 0.02252322 -0.00429449 -0.11909083
+v 0.02945538 -0.02068672 -0.13691025
+v 0.01708295 -0.00573492 -0.13640375
+v 0.02168042 -0.00111841 -0.11550725
+v 0.02258713 -0.00035483 -0.11320062
+v 0.02212778 -0.00008242 -0.11320062
+v 0.01645184 -0.00235865 -0.13357145
+v 0.03325798 -0.02068671 -0.13772153
+v 0.03325798 -0.02042049 -0.13770953
+v 0.03676899 -0.02049480 -0.13691265
+v 0.03676899 0.00039431 -0.11506561
+v 0.02258713 -0.00008242 -0.11320062
+v 0.01636796 -0.00249691 -0.13673497
+v 0.02270097 0.00039431 -0.11346945
+v 0.02200396 0.00039431 -0.11387989
+v 0.01645983 0.00039438 -0.13356904
+v 0.02024845 0.00039439 -0.13679977
+v 0.01637994 0.00039439 -0.13675416
+v 0.03329593 -0.01589472 -0.13685503
+v 0.03676899 -0.01945880 -0.13672062
+v 0.02303449 0.00039431 -0.11346945
+v 0.03676899 0.00039433 -0.11995489
+v 0.02168241 0.00039439 -0.13567165
+v 0.03676899 -0.01132560 -0.13244337
+v 0.03639552 -0.01735997 -0.13633178
+v 0.03676899 -0.01819991 -0.13642539
+v 0.02393522 0.00039438 -0.13359064
+v 0.02217172 0.00039439 -0.13524921
+f 1 2 7
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+f 1 18 24
+f 1 24 10
+f 1 10 3
+f 1 3 11
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+f 1 26 36
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+f 1 4 5
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+f 25 36 26
+f 27 37 28
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+f 27 43 44
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+f 27 33 34
+f 27 34 32
+f 27 32 31
+f 27 31 30
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+f 29 32 34
+f 33 39 40
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+f 33 41 42
+f 33 42 36
+f 33 36 35
+f 38 40 43
+f 39 44 40
+f 40 42 41
+f 40 44 43
+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_56.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2579f5041236a0bc9401f871d18d7100098da98b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_56.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v -0.04578105 0.01888398 0.04311610
+v -0.03061302 0.03901277 0.04311617
+v -0.05085975 0.01888398 0.04311610
+v -0.04176374 0.01888403 0.02928189
+v -0.03061302 0.04526855 0.04311620
+v -0.03061302 0.03427525 0.02947269
+v -0.05058739 0.01991093 0.04311610
+v -0.05086376 0.01888398 0.04306000
+v -0.03061302 0.03482928 0.01657534
+v -0.04280712 0.01888413 0.00229228
+v -0.03137403 0.04480081 0.04311619
+v -0.03061302 0.04527639 0.04306010
+v -0.04929969 0.02317993 0.04311612
+v -0.04928968 0.02321652 0.04306002
+v -0.05059140 0.01991093 0.04306000
+v -0.05107003 0.01888400 0.03853274
+v -0.03061302 0.03602352 0.00180988
+v -0.04292528 0.01888414 0.00132736
+v -0.03061302 0.03789195 -0.01419538
+v -0.03358695 0.04303696 0.04311619
+v -0.03137803 0.04480603 0.04306009
+v -0.03061302 0.04557692 0.03853284
+v -0.03161835 0.04498113 0.03853284
+v -0.04928768 0.02320867 0.04311612
+v -0.04806807 0.02545595 0.04306002
+v -0.04939582 0.02344910 0.03853276
+v -0.04806606 0.02545072 0.04311612
+v -0.05074560 0.01991095 0.03853274
+v -0.04962813 0.01983536 -0.01419545
+v -0.04990649 0.01888419 -0.01419545
+v -0.04510416 0.01888419 -0.01419545
+v -0.03061302 0.04207293 -0.01419537
+v -0.03632256 0.04079229 0.04311618
+v -0.03359696 0.04303696 0.04306009
+v -0.03632657 0.04079752 0.04306008
+v -0.03383528 0.04321728 0.03853283
+v -0.03061302 0.04507008 0.00807627
+v -0.03134199 0.04478003 0.00855871
+v -0.04614753 0.02887390 0.04306004
+v -0.04478573 0.03173266 0.03853279
+v -0.04450536 0.03134342 0.00872136
+v -0.04909142 0.02290568 0.00833984
+v -0.04613952 0.02887913 0.04311614
+v -0.04865484 0.02207741 -0.01419544
+v -0.03156228 0.04332984 -0.01419536
+v -0.03061302 0.04407718 -0.01417853
+v -0.03853949 0.03868613 0.04311617
+v -0.03650880 0.04097785 0.03853282
+v -0.03854349 0.03869135 0.04306007
+v -0.03562564 0.04020194 -0.01419537
+v -0.03599813 0.04056508 0.00793600
+v -0.04464154 0.03152621 0.04306005
+v -0.04465155 0.03150007 0.04311615
+v -0.04303342 0.03397210 0.03853279
+v -0.04038192 0.03610189 0.00798647
+v -0.04001944 0.03572046 -0.01419539
+v -0.04388054 0.03062489 -0.01419541
+v -0.04444528 0.02981744 -0.01419541
+v -0.04542658 0.02838546 -0.01419542
+v -0.04081649 0.03662702 0.03853280
+v -0.04618759 0.02694563 -0.01419542
+v -0.04751534 0.02439263 -0.01419543
+v -0.04792588 0.02356165 -0.01419543
+v -0.03856352 0.03866261 0.04311617
+v -0.03872573 0.03886645 0.03853281
+v -0.04064627 0.03645192 0.04306006
+v -0.03642670 0.03939449 -0.01419538
+v -0.04286119 0.03376303 0.04306005
+v -0.04463954 0.03152098 0.04311615
+v -0.04288923 0.03372122 0.04311615
+v -0.03784457 0.03795990 -0.01419538
+v -0.04064226 0.03644669 0.04311616
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+f 1 20 33
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+f 1 72 70
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+f 41 59 42
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+f 41 60 55
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+f 42 63 44
+f 45 50 46
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+f 48 65 49
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+f 50 65 51
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+f 55 65 56
+f 56 65 71
+f 60 66 65
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+f 65 67 71
+f 66 68 70
+f 66 70 72
+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_57.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1db05dbdd9263bc30f7378640c5bd07c4de15862
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_57.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.05027076 0.00017894 0.04309014
+v -0.04578395 0.01888398 0.04309021
+v -0.05436825 0.00017894 0.04309014
+v -0.04618850 0.00017899 0.02946832
+v -0.05086173 0.01888398 0.04309021
+v -0.04176383 0.01888403 0.02927771
+v -0.05440122 0.00195680 0.04309015
+v -0.05440629 0.00198609 0.04306210
+v -0.05437205 0.00017894 0.04306209
+v -0.04647257 0.00017904 0.01588015
+v -0.05086427 0.01888398 0.04306216
+v -0.05351730 0.01009539 0.04306213
+v -0.05351603 0.01008624 0.04309018
+v -0.04692277 0.00017909 0.00229198
+v -0.04280881 0.01888413 0.00229205
+v -0.05440122 0.00198609 0.04309015
+v -0.05404105 0.00646461 0.04309016
+v -0.05404486 0.00646644 0.04306211
+v -0.05471826 0.00198611 0.03853085
+v -0.05468656 0.00017896 0.03853084
+v -0.05455974 0.00017895 0.04035904
+v -0.05106972 0.01888400 0.03853091
+v -0.05302271 0.01300663 0.03853089
+v -0.05367582 0.01076737 0.03853088
+v -0.05434922 0.00646646 0.03853086
+v -0.04835328 0.00017915 -0.01418992
+v -0.04292548 0.01888414 0.00132747
+v -0.05345643 0.00975863 0.00846642
+v -0.05368723 0.00646657 0.00782709
+v -0.05388127 0.00198622 0.00731114
+v -0.05332453 0.00113491 -0.01418992
+v -0.05332453 0.00017915 -0.01418992
+v -0.04990679 0.01888419 -0.01418985
+v -0.04510548 0.01888419 -0.01418985
+v -0.05092261 0.01542734 -0.01418986
+f 1 2 5
+f 1 5 13
+f 1 13 17
+f 1 17 16
+f 1 16 7
+f 1 7 3
+f 1 3 9
+f 1 9 21
+f 1 21 20
+f 1 20 32
+f 1 32 26
+f 1 26 14
+f 1 14 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 15
+f 2 15 27
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+f 2 34 33
+f 2 33 22
+f 2 22 11
+f 2 11 5
+f 3 7 8
+f 3 8 9
+f 4 10 6
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+f 5 12 13
+f 6 10 14
+f 6 14 15
+f 7 16 8
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 9
+f 11 22 23
+f 11 23 12
+f 12 18 13
+f 12 23 24
+f 12 24 25
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+f 13 18 17
+f 14 26 15
+f 15 26 27
+f 18 25 19
+f 19 25 28
+f 19 28 29
+f 19 29 30
+f 19 30 31
+f 19 31 32
+f 19 32 20
+f 22 33 28
+f 22 28 23
+f 23 28 24
+f 24 28 25
+f 26 32 31
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+f 26 35 33
+f 26 33 34
+f 26 34 27
+f 28 33 35
+f 28 35 31
+f 28 31 29
+f 29 31 30
+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_58.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f353d3efa060d2677083e92b966801c90f5ebd6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_58.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v -0.01942680 0.03914337 -0.13631121
+v -0.01942680 0.04187964 -0.13473906
+v -0.00665498 0.04580269 -0.13655252
+v -0.00221990 0.04654734 -0.13697314
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+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_59.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63c479284a0652284b4f1237f17c342a957a72c9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_59.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.01995935 -0.00249616 -0.13695746
+v -0.01995935 0.00039423 -0.13694651
+v -0.01853383 0.00039423 -0.13683493
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+v -0.01954357 -0.00739716 -0.13665336
+v -0.03318785 -0.02230010 -0.13662935
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+v -0.03680469 -0.02230010 -0.13665997
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+v -0.03680469 -0.02130924 -0.13659433
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+v -0.03680469 -0.01889873 -0.13629895
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+v -0.02074636 -0.01058081 -0.13637768
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+v -0.02882643 0.00039415 -0.11484838
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+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_6.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61205e75fb358193b99b758101dff1b3a25574af
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_6.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.05326052 0.00039600 -0.01419552
+v 0.05326052 0.00046837 -0.01419552
+v 0.04826261 0.00039600 -0.01419552
+v 0.05373538 0.00039634 -0.10643940
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+v 0.05087760 0.01542942 -0.01419546
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+v 0.03478588 0.03400242 -0.01419540
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+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_60.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3eb00408db348beaa2bf905acad0b5de2a432f0d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_60.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.04064442 0.00017883 0.07314148
+v -0.03593249 0.01888387 0.07314155
+v -0.04556791 0.00017883 0.07314148
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+v -0.04559141 0.00198598 0.07314149
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+v -0.04545761 0.01134767 0.07067080
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+v -0.05021837 0.01888396 0.04863435
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diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_61.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab4196525f9776fc454c0a053f97ab867c9e09dc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_61.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_62.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e95ac91c55b111e59a72f0345522822a92d693ff
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_62.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.02559572 -0.02632379 0.11168894
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+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_63.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b37222a652657d253bbfd188e83fc5ded6667cdc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_63.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.00164225 -0.00391472 0.13345035
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+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_64.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c99d6b9ab49de90ab9fc72b6fae874ac8139d54d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_64.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.00925435 -0.01671000 0.10870722
+v 0.01954970 -0.00391587 0.10642805
+v 0.00934724 -0.01670999 0.10656872
+v 0.00943792 -0.01671001 0.11069495
+v 0.01948998 -0.00391589 0.11108198
+v 0.02049409 -0.00391586 0.10420663
+v 0.02113326 -0.00391586 0.10309843
+v 0.01118735 -0.01670998 0.10441515
+v 0.00951533 -0.01671001 0.11127040
+v 0.02275663 -0.00391595 0.12860710
+v 0.02128587 -0.00391586 0.10293761
+v 0.01261388 -0.01670998 0.10305063
+v 0.01519049 -0.01671007 0.12860705
+v 0.02767097 -0.00391595 0.12860710
+v 0.01273332 -0.01670998 0.10293756
+v 0.02867065 -0.00391586 0.10293761
+v 0.02246469 -0.01671007 0.12860705
+v 0.03183556 -0.00391590 0.11436637
+v 0.02734143 -0.00577964 0.12860709
+v 0.03150823 -0.00697947 0.11398439
+v 0.02274336 -0.01670998 0.10293756
+v 0.02805359 -0.00698945 0.10293759
+v 0.03107916 -0.00391588 0.10871732
+v 0.03104820 -0.00477884 0.10874998
+v 0.02343561 -0.01550644 0.12860705
+v 0.02434461 -0.01671006 0.12422954
+v 0.03184662 -0.00391589 0.11111465
+v 0.02715344 -0.00683674 0.12860708
+v 0.03111234 -0.00934917 0.11343657
+v 0.03111234 -0.00934916 0.11295660
+v 0.02411239 -0.01560279 0.10293756
+v 0.02724191 -0.01671002 0.11568309
+v 0.02469848 -0.01469599 0.10293757
+v 0.03069876 -0.00776601 0.10993607
+v 0.03143746 -0.00391588 0.10961193
+v 0.03141976 -0.00655487 0.11127798
+v 0.02525582 -0.01205835 0.12860707
+v 0.02605203 -0.01671004 0.11949269
+v 0.02646561 -0.00907744 0.12860708
+v 0.02697651 -0.01671003 0.11671339
+f 1 2 3
+f 1 3 8
+f 1 8 12
+f 1 12 15
+f 1 15 21
+f 1 21 32
+f 1 32 40
+f 1 40 38
+f 1 38 26
+f 1 26 17
+f 1 17 13
+f 1 13 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 14
+f 2 14 18
+f 2 18 27
+f 2 27 35
+f 2 35 23
+f 2 23 16
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+f 2 7 6
+f 2 6 3
+f 3 6 7
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+f 7 11 8
+f 8 11 12
+f 9 13 10
+f 10 13 17
+f 10 17 25
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+f 10 28 19
+f 10 19 14
+f 11 15 12
+f 11 16 22
+f 11 22 33
+f 11 33 31
+f 11 31 21
+f 11 21 15
+f 14 19 20
+f 14 20 18
+f 16 23 24
+f 16 24 22
+f 17 26 25
+f 18 20 27
+f 19 28 20
+f 20 29 30
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+f 20 28 29
+f 21 31 32
+f 22 24 34
+f 22 34 33
+f 23 35 24
+f 24 35 36
+f 24 36 34
+f 25 26 38
+f 25 38 37
+f 27 30 36
+f 27 36 35
+f 28 39 29
+f 29 39 37
+f 29 37 40
+f 29 40 32
+f 29 32 30
+f 30 33 34
+f 30 34 36
+f 30 32 33
+f 31 33 32
+f 37 38 40
+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_65.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c2fb86359fa1f4c8e4109fef4bac82d9c9be28b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_65.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.03733515 0.00017716 0.08939180
+v -0.03730740 -0.00249738 0.08939179
+v -0.03610129 -0.00249739 0.09154539
+v -0.03719000 0.00017716 0.08965062
+v -0.03157785 0.00017716 0.08939180
+v -0.03672036 -0.00697856 0.08939177
+v -0.03611410 0.00017715 0.09156006
+v -0.03575974 -0.00697856 0.09104726
+v -0.02897564 -0.00249742 0.10186414
+v -0.02897778 -0.00239920 0.10186414
+v -0.02269106 0.00017712 0.10186415
+v -0.01552698 -0.01627106 0.10186409
+v -0.02701598 -0.01627102 0.08939174
+v -0.03651756 -0.00801714 0.08939177
+v -0.02899912 0.00017712 0.10186415
+v -0.03550998 -0.00932784 0.09068344
+v -0.02813884 -0.00700598 0.10186412
+v -0.02383526 -0.01627106 0.10186409
+v -0.03367840 -0.01627102 0.08939174
+v -0.03602017 -0.01033261 0.08939176
+v -0.03556762 -0.01183492 0.08939176
+v -0.03504248 -0.01231476 0.08999486
+v -0.03147538 -0.01040509 0.09576589
+v -0.02698396 -0.01040511 0.10186411
+v -0.02429850 -0.01575902 0.10186409
+v -0.02493677 -0.01627106 0.10056997
+v -0.03361650 -0.01627102 0.08948208
+v -0.03374671 -0.01613093 0.08939174
+v -0.03523460 -0.01282681 0.08939175
+v -0.03205389 -0.01594094 0.09195800
+v -0.03086912 -0.01339362 0.09501505
+v -0.02653140 -0.01145979 0.10186411
+v -0.02610659 -0.01241785 0.10186410
+v -0.02679183 -0.01403288 0.09994002
+v -0.03197063 -0.01627103 0.09184812
+v -0.03036320 -0.01627103 0.09384301
+f 1 2 3
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+f 1 5 13
+f 1 13 19
+f 1 19 28
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+f 30 33 31
+f 31 33 32
+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_66.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fabc288923c4dcc6bacbd3f9cddf0b5e90b0312
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_66.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.03209836 0.00017566 0.11102867
+v -0.03208828 -0.00249865 0.11102866
+v -0.03205802 0.00017566 0.11244009
+v -0.02793145 0.00017721 0.12914396
+v -0.02795968 0.00017722 0.12437741
+v -0.02899839 0.00017570 0.10186636
+v -0.03152556 -0.00663167 0.11094492
+v -0.03126740 -0.00982120 0.11240118
+v -0.03162842 -0.00697945 0.11417145
+v -0.03198541 -0.00249866 0.11453330
+v -0.02897620 -0.00240039 0.10186635
+v -0.02897418 -0.00249861 0.10186635
+v -0.03106772 -0.00490729 0.10873209
+v -0.03199550 0.00017565 0.11452434
+v -0.02782254 0.00017720 0.13097104
+v -0.02379479 0.00017722 0.12437741
+v -0.02268751 0.00017570 0.10186636
+v -0.03082771 -0.00789395 0.10938397
+v -0.03126740 -0.00982121 0.11367505
+v -0.02698149 -0.01040400 0.10186632
+v -0.03011171 -0.01137330 0.11094490
+v -0.02766925 -0.01627110 0.11111234
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+v -0.02770959 -0.00249873 0.13241237
+v -0.02772169 -0.00125093 0.13241238
+v -0.02772774 0.00017719 0.13241238
+v -0.02813717 -0.00700678 0.10186633
+v -0.02045279 0.00017719 0.13241238
+v -0.02149149 0.00017569 0.10335853
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+v -0.02752605 -0.01627110 0.11073855
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+v -0.02292550 -0.01627115 0.12437735
+v -0.02429498 -0.01575745 0.10186630
+v -0.01642100 -0.01627115 0.12437735
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+f 45 53 51
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+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_67.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86bc38c0379ce470700a8f590bfc96529c131449
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_67.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.01384688 -0.02632384 0.12506123
+v 0.01552210 -0.03324919 0.12280354
+v 0.01567271 -0.02632384 0.12493488
+v 0.01384688 -0.02632380 0.11428781
+v 0.01384688 -0.03310993 0.12275109
+v 0.01552210 -0.03548934 0.12200726
+v 0.01883025 -0.03239770 0.12258898
+v 0.02659331 -0.02712957 0.12234582
+v 0.02683111 -0.02632383 0.12241258
+v 0.02015668 -0.03874405 0.10070595
+v 0.01772313 -0.04090661 0.10070594
+v 0.01687231 -0.03957168 0.10295170
+v 0.01726865 -0.04345910 0.10070593
+v 0.01384688 -0.03471341 0.11171541
+v 0.03430087 -0.02632376 0.10295413
+v 0.03306692 -0.02922440 0.10070598
+v 0.01384688 -0.03635674 0.12056731
+v 0.01552210 -0.03758425 0.11974243
+v 0.01880383 -0.03705505 0.11892232
+v 0.02178698 -0.03129155 0.12220993
+v 0.03148419 -0.02754734 0.11831443
+v 0.02763173 -0.02632383 0.12199537
+v 0.01755666 -0.04529937 0.10070592
+v 0.01384688 -0.03866849 0.11055915
+v 0.03431937 -0.02632376 0.10294460
+v 0.03348441 -0.02902943 0.10070598
+v 0.01384688 -0.03734352 0.11949926
+v 0.01647597 -0.04107576 0.11410895
+v 0.01839955 -0.04107576 0.11410895
+v 0.03416348 -0.03930707 0.10070595
+v 0.03650983 -0.03750460 0.10070595
+v 0.03685861 -0.03723204 0.10070595
+v 0.02963987 -0.03053553 0.11641674
+v 0.02668579 -0.03168743 0.11789482
+v 0.03897509 -0.03550120 0.10070596
+v 0.03558767 -0.03172321 0.10888557
+v 0.03991046 -0.03162770 0.10422957
+v 0.03567487 -0.02743790 0.11362028
+v 0.03175370 -0.02632382 0.11868157
+v 0.01993737 -0.04664625 0.10070592
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+v 0.01384688 -0.03888733 0.11082616
+v 0.03649398 -0.02632376 0.10294460
+v 0.03774907 -0.02870316 0.10070598
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+v 0.01520767 -0.03988009 0.11559182
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+v 0.02421789 -0.04653284 0.10070592
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+v 0.04068730 -0.03066876 0.10070598
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+v 0.03577791 -0.02632380 0.11316970
+v 0.03715719 -0.02632377 0.10641336
+v 0.03661024 -0.02632378 0.11023019
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+f 10 13 11
+f 11 13 12
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+f 54 64 55
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+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_68.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3616027c5576d04cd99b107f1982d52b357aa9b3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_68.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.01942680 0.04991730 -0.11406214
+v -0.01942680 0.04991323 -0.11419050
+v -0.01980670 0.04979340 -0.11406214
+v -0.01942680 0.04473408 -0.11406216
+v -0.01942680 0.04985433 -0.11550571
+v -0.01957330 0.04980762 -0.11550571
+v -0.02848002 0.04550386 -0.12003462
+v -0.02873825 0.04567039 -0.11550572
+v -0.02874322 0.04569273 -0.11406215
+v -0.01942680 0.04061111 -0.12556570
+v -0.03887160 0.02917022 -0.11406221
+v -0.01942680 0.04984215 -0.11566786
+v -0.01942680 0.04975279 -0.11673646
+v -0.02775745 0.04512611 -0.12456577
+v -0.03069738 0.04426696 -0.12003463
+v -0.03095562 0.04445583 -0.11550573
+v -0.01942680 0.04946236 -0.11939614
+v -0.01942680 0.04938315 -0.12003461
+v -0.03096059 0.04446192 -0.11406216
+v -0.03721788 0.02917026 -0.12556574
+v -0.01942680 0.04829656 -0.12556567
+v -0.04479120 0.02917022 -0.11406221
+v -0.02750914 0.04500222 -0.12556568
+v -0.02997481 0.04387296 -0.12456578
+v -0.01942680 0.04863778 -0.12462769
+v -0.01942680 0.04847733 -0.12540015
+v -0.03341633 0.04132807 -0.12413677
+v -0.03548968 0.04008709 -0.12234075
+v -0.03325990 0.04215265 -0.12003464
+v -0.03561880 0.04020285 -0.12003464
+v -0.03576033 0.04033079 -0.11550574
+v -0.03576033 0.04033079 -0.11406217
+v -0.04333365 0.02917026 -0.12556574
+v -0.01983650 0.04815236 -0.12556567
+v -0.04435915 0.02989124 -0.11406221
+v -0.04477134 0.02917022 -0.11459144
+v -0.02895676 0.04418371 -0.12556569
+v -0.01990851 0.04812596 -0.12556567
+v -0.02967436 0.04372673 -0.12556569
+v -0.03301656 0.04121433 -0.12556570
+v -0.03499803 0.03964839 -0.12536076
+v -0.03692737 0.03802966 -0.12413678
+v -0.03949733 0.03510293 -0.12456581
+v -0.03981268 0.03551928 -0.12171920
+v -0.04000139 0.03570613 -0.11870031
+v -0.03797770 0.03802962 -0.11550575
+v -0.03797770 0.03803774 -0.11406218
+v -0.03646552 0.03960570 -0.11406217
+v -0.04362913 0.02917026 -0.12456583
+v -0.04341559 0.02954397 -0.12456583
+v -0.04326164 0.02929619 -0.12556574
+v -0.04391220 0.03060414 -0.11406221
+v -0.04388985 0.03056555 -0.11550578
+v -0.04473161 0.02917022 -0.11550578
+v -0.03483415 0.03971948 -0.12556570
+v -0.03495582 0.03961184 -0.12556570
+v -0.03682556 0.03765595 -0.12556571
+v -0.03885173 0.03546446 -0.12556572
+v -0.04104924 0.03265959 -0.12556573
+v -0.04119822 0.03286269 -0.12456582
+v -0.03934090 0.03489983 -0.12556572
+v -0.04378556 0.03027919 -0.12003468
+v -0.04129009 0.03375836 -0.12013939
+v -0.04006843 0.03578938 -0.11550576
+v -0.03865309 0.03732485 -0.11406218
+v -0.04442122 0.02917024 -0.12003468
+v -0.04277744 0.03007204 -0.12556574
+v -0.04065940 0.03501556 -0.11406219
+v -0.04461242 0.02917023 -0.11746845
+v -0.04007588 0.03579751 -0.11406219
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+f 1 65 70
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+f 52 68 64
+f 52 64 53
+f 53 62 69
+f 53 69 54
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+f 64 68 70
+f 64 70 65
+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_69.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4f877db948d7f9b29b72deaad77a75d8a7110c2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_69.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.00164225 -0.02142088 0.10293754
+v 0.00164225 -0.02632376 0.10293752
+v 0.00164225 -0.02139171 0.10296769
+v 0.01273216 -0.01670998 0.10293756
+v 0.01035944 -0.02632376 0.10293752
+v 0.00164225 -0.02632385 0.12860701
+v 0.00164225 -0.01952467 0.10649584
+v 0.01118942 -0.01670998 0.10441515
+v 0.02274356 -0.01670998 0.10293756
+v 0.01108626 -0.02607532 0.10293752
+v 0.02559458 -0.02632379 0.11168751
+v 0.00916839 -0.02632385 0.12860701
+v 0.00164225 -0.02274973 0.12860703
+v 0.00164225 -0.01939483 0.11102413
+v 0.00934892 -0.01670999 0.10656872
+v 0.02035208 -0.01991802 0.10293755
+v 0.02559458 -0.01671002 0.11456485
+v 0.01489387 -0.02431085 0.10293753
+v 0.01547533 -0.02389961 0.10293753
+v 0.01989958 -0.02030197 0.10293755
+v 0.02559458 -0.02632383 0.12260365
+v 0.01108626 -0.02566511 0.12860702
+v 0.01518929 -0.01671007 0.12860705
+v 0.00951538 -0.01671001 0.11127040
+v 0.00943801 -0.01671001 0.11069495
+v 0.00925514 -0.01671000 0.10870722
+v 0.02559458 -0.01671004 0.12076423
+v 0.02559458 -0.02611962 0.12267400
+v 0.02246456 -0.01671007 0.12860705
+v 0.02144935 -0.01815365 0.12860704
+v 0.01959947 -0.02004516 0.12860704
+v 0.01693132 -0.02256811 0.12860703
+v 0.01504393 -0.02391382 0.12860702
+v 0.02434492 -0.01671006 0.12422954
+v 0.02559458 -0.01808305 0.12244536
+v 0.02559458 -0.02499224 0.12283233
+v 0.02559458 -0.02089396 0.12320426
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+f 1 7 3
+f 1 3 4
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+f 1 20 19
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+f 21 32 33
+f 21 33 22
+f 27 34 35
+f 28 36 29
+f 29 37 35
+f 29 35 34
+f 29 36 37
+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_7.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1685c71c1477e83d684fb559e8fa4b93c8bab3a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_7.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.04205475 -0.03229515 -0.01420523
+v 0.04349841 -0.03037516 -0.01420522
+v 0.03578675 -0.03229515 -0.01420523
+v 0.04307404 -0.03229481 -0.10644007
+v 0.04397962 -0.03115882 -0.10644006
+v 0.04404053 -0.02956556 -0.01420522
+v 0.04826388 0.00039600 -0.01420511
+v 0.04826185 0.00039600 -0.01423389
+v 0.03299285 -0.03229483 -0.10191179
+v 0.04299891 -0.03229480 -0.10799427
+v 0.04277759 -0.03229479 -0.11220595
+v 0.04324054 -0.03170599 -0.11220595
+v 0.04387201 -0.03097639 -0.11096833
+v 0.04539079 -0.02891882 -0.10644006
+v 0.04498673 -0.02813196 -0.01420521
+v 0.05326082 0.00039600 -0.01420511
+v 0.04647911 0.00039632 -0.10191167
+v 0.04628622 0.00039636 -0.11220583
+v 0.03329539 -0.03229482 -0.10294794
+v 0.03632685 -0.03229479 -0.11220595
+v 0.04384155 -0.03091240 -0.11220594
+v 0.04524459 -0.02873640 -0.11096833
+v 0.04760804 -0.02502762 -0.10644004
+v 0.04939890 -0.01960077 -0.01420518
+v 0.04884662 -0.02279083 -0.10401280
+v 0.05326082 -0.00093199 -0.01420511
+v 0.05373594 0.00039634 -0.10643995
+v 0.05332985 0.00039636 -0.11220583
+v 0.04484053 -0.02928040 -0.11220594
+v 0.04520195 -0.02867240 -0.11220594
+v 0.04879789 -0.02269802 -0.10884808
+v 0.04884459 -0.02278763 -0.10644003
+v 0.05067199 -0.01594318 -0.01420517
+v 0.04969941 -0.02041963 -0.10644003
+v 0.05151260 -0.01145998 -0.01420515
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+v 0.05373188 -0.00249645 -0.10643996
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+v 0.04671464 -0.02578920 -0.11220592
+v 0.04931159 -0.02022761 -0.11220590
+v 0.04933393 -0.02057321 -0.11060375
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+v 0.05321818 -0.00924205 -0.10422382
+v 0.05337046 -0.00680045 -0.10601784
+v 0.05327706 -0.00518764 -0.10943324
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+v 0.05167300 -0.01145962 -0.11220587
+v 0.05237960 -0.00807723 -0.11220586
+v 0.05262529 -0.00684843 -0.11220586
+v 0.05313290 -0.00384043 -0.11220584
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+f 1 15 24
+f 1 24 33
+f 1 33 35
+f 1 35 26
+f 1 26 16
+f 1 16 7
+f 1 7 3
+f 1 3 9
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+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_70.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be7640cc2acb8f84f88d71c5c953d83ecdc66545
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_70.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.03367982 -0.01627102 0.08939175
+v -0.03326492 -0.01711571 0.08939175
+v -0.03134945 -0.01869766 0.09104110
+v -0.03196835 -0.01627103 0.09184848
+v -0.02701371 -0.01627102 0.08939175
+v -0.03188883 -0.01965399 0.08939174
+v -0.03036406 -0.01627103 0.09384282
+v -0.03051273 -0.02188683 0.08939173
+v -0.03037097 -0.02168461 0.08977501
+v -0.02877014 -0.02033649 0.09281040
+v -0.02717276 -0.01898837 0.09583837
+v -0.02493229 -0.01627106 0.10057011
+v -0.01526850 -0.01627106 0.10202165
+v 0.00164225 -0.02231659 0.10202163
+v 0.00164225 -0.03197885 0.08939169
+v -0.02994570 -0.02260724 0.08939173
+v -0.02842439 -0.02453253 0.08939172
+v -0.02741479 -0.02361834 0.09156037
+v -0.02607327 -0.02197532 0.09458093
+v -0.02370486 -0.01627106 0.10202165
+v -0.02226308 -0.01830379 0.10202164
+v 0.00164225 -0.02915835 0.10202160
+v 0.00164225 -0.03778845 0.08939167
+v -0.02723846 -0.02591016 0.08939171
+v -0.02605944 -0.02660739 0.09008903
+v -0.02311709 -0.02358886 0.09616476
+v -0.02159923 -0.02208908 0.09918531
+v -0.02012978 -0.02060193 0.10202163
+v -0.00221980 -0.02910569 0.10202160
+v 0.00164225 -0.03506903 0.09371662
+v 0.00164225 -0.03688057 0.09105834
+v -0.00075381 -0.03776739 0.08939167
+v -0.02636370 -0.02690651 0.08939171
+v -0.02537831 -0.02773645 0.08939171
+v -0.02396764 -0.02890764 0.08939170
+v -0.02310325 -0.02789655 0.09151338
+v -0.02144019 -0.02657792 0.09453392
+v -0.01783399 -0.02274420 0.10202163
+v -0.00638266 -0.02830945 0.10202161
+v -0.00581563 -0.03638766 0.09104722
+v -0.00221980 -0.03503743 0.09367459
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+v -0.00221980 -0.03663623 0.09140949
+v 0.00164225 -0.03666362 0.09145153
+v -0.00221980 -0.03774632 0.08939167
+v -0.02121199 -0.03099093 0.08939170
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diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_71.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48059649324e7ee3f7619f835681c70c68b834cc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_71.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_72.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ed462d4fbf79f6667bf44fdec5dac1d5991ce40
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_72.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.01942680 0.04829737 -0.12556568
+v -0.01942680 0.04707105 -0.12912377
+v -0.02439499 0.04538038 -0.12901818
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+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_73.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c6d971bafaed63172d73b4e1c1b8cdbcb545187
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_73.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.02406747 -0.01431932 0.12437935
+v -0.02353646 -0.01534573 0.12437934
+v -0.02405489 -0.01431933 0.12915845
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+v -0.01554873 -0.01431935 0.13241531
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+v -0.01108929 -0.02542357 0.13241527
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+v -0.00827320 -0.02674768 0.12914581
+v -0.00792088 -0.02668517 0.13241526
+v -0.00870355 -0.02637792 0.13241526
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+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_74.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e66bb9b078e2335e133f8cd25bff850114877123
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_74.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.01384689 -0.02632372 0.09211135
+v 0.01384689 -0.02832143 0.08953087
+v 0.01384689 -0.02632375 0.10068623
+v 0.01724942 -0.02632371 0.08948915
+v 0.01384689 -0.02835468 0.08948915
+v 0.01414665 -0.02632375 0.10052371
+v 0.01384689 -0.02676371 0.10020637
+v 0.01755846 -0.04529831 0.10070482
+v 0.01726797 -0.04345918 0.10070483
+v 0.01772226 -0.04090638 0.10070484
+v 0.02015750 -0.03874495 0.10070485
+v 0.03306613 -0.02922441 0.10070488
+v 0.03348333 -0.02903001 0.10070488
+v 0.03774809 -0.02870260 0.10070488
+v 0.02650519 -0.02632371 0.08948915
+v 0.01384689 -0.03505129 0.08948912
+v 0.01521903 -0.02632375 0.09972871
+v 0.01384689 -0.02746456 0.09933998
+v 0.01384689 -0.03114538 0.09464680
+v 0.01384689 -0.03303567 0.09221455
+v 0.01384689 -0.03400766 0.09095615
+v 0.01760791 -0.04526249 0.09932344
+v 0.02132258 -0.05075429 0.08948906
+v 0.02122987 -0.05052409 0.09290187
+v 0.02161617 -0.05000229 0.09614670
+v 0.01993808 -0.04664633 0.10070482
+v 0.03861650 -0.02883561 0.10070488
+v 0.02631977 -0.02632371 0.08976476
+v 0.02608181 -0.02632371 0.09006124
+v 0.02580058 -0.02632371 0.09036321
+v 0.02384435 -0.02632372 0.09230571
+v 0.02151110 -0.02632373 0.09461277
+v 0.02121751 -0.02632373 0.09487960
+v 0.01919638 -0.02632373 0.09657613
+v 0.01645828 -0.02632374 0.09879534
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+v 0.02440681 -0.05245530 0.08948906
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+v 0.02421829 -0.04653378 0.10070482
+v 0.04068707 -0.03066963 0.10070488
+v 0.04536903 -0.03452436 0.08948912
+v 0.04504764 -0.03417649 0.08948912
+v 0.02875192 -0.05158817 0.08948906
+v 0.02460768 -0.04843430 0.09756651
+v 0.02789279 -0.05049340 0.09188286
+v 0.03602674 -0.04547478 0.09120097
+v 0.03442591 -0.04432884 0.09422179
+v 0.03187323 -0.04118264 0.10045778
+v 0.03210810 -0.04081174 0.10070484
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+v 0.04496110 -0.03486201 0.09181265
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+v 0.03440736 -0.04775898 0.08948907
+v 0.03691986 -0.04600937 0.08948908
+v 0.03898426 -0.04433138 0.08963952
+v 0.03770792 -0.04283757 0.09291838
+v 0.03643158 -0.04134121 0.09608414
+v 0.03416322 -0.03931025 0.10070485
+v 0.04083850 -0.03308174 0.10070487
+v 0.04496110 -0.03704135 0.09181264
+v 0.04541848 -0.03800056 0.08948911
+v 0.03883282 -0.04455136 0.08948909
+v 0.03931493 -0.04415744 0.08948909
+v 0.04157402 -0.04222367 0.08948909
+v 0.04077669 -0.04134376 0.09161497
+v 0.03938601 -0.04016969 0.09463578
+v 0.03685806 -0.03723578 0.10070485
+v 0.03650884 -0.03750692 0.10070485
+v 0.03807259 -0.03864518 0.09779495
+v 0.04008135 -0.03429675 0.10070486
+v 0.04242079 -0.03860680 0.09322367
+v 0.04373421 -0.04002642 0.08989209
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+v 0.04424104 -0.03960693 0.08948910
+v 0.04331391 -0.04069403 0.08948910
+v 0.03971668 -0.03591334 0.09950576
+v 0.03897498 -0.03550152 0.10070486
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+f 72 79 78
+f 74 77 76
+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_75.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b52df43814f917277f8f40c0eb5b9bfd288d26d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_75.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.01384688 -0.03899866 0.11557821
+v 0.00164345 -0.03152352 0.11436259
+v 0.00164345 -0.03172450 0.11156989
+v 0.01384688 -0.03888699 0.11082735
+v 0.01384688 -0.03734360 0.11950114
+v 0.01235356 -0.03712773 0.11928429
+v 0.00164345 -0.02729285 0.13610293
+v 0.00164345 -0.02918478 0.10296840
+v 0.01384688 -0.03866863 0.11056122
+v 0.01384688 -0.03635478 0.12056566
+v 0.00453213 -0.02716630 0.13596495
+v 0.00221688 -0.02728541 0.13609308
+v 0.00194928 -0.02632388 0.13652677
+v 0.00164345 -0.02632388 0.13653005
+v 0.00164345 -0.02632376 0.10296841
+v 0.00177008 -0.02918726 0.10296840
+v 0.00221688 -0.02919347 0.10296840
+v 0.00635518 -0.02826543 0.10296841
+v 0.01030592 -0.02632376 0.10296841
+v 0.01384688 -0.03471208 0.11171445
+v 0.01384688 -0.03310791 0.12275054
+v 0.00806951 -0.02632387 0.13367493
+v 0.00522264 -0.02632388 0.13626065
+v 0.00221688 -0.02632388 0.13652019
+v 0.01384688 -0.02632380 0.11429033
+v 0.01384688 -0.02632384 0.12506029
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+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_76.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16fab530239d585814612f189e4ab90382b73e80
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_76.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.00164225 -0.02819938 0.12437930
+v 0.00164225 -0.02390820 0.12437931
+v -0.00066192 -0.02820404 0.12437930
+v -0.00222003 -0.03215469 0.11412673
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+v -0.00222003 -0.02820715 0.12437930
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+v -0.00665620 -0.03199921 0.11390571
+v 0.00122044 -0.03196655 0.11199307
+v 0.00164225 -0.03172400 0.11157071
+v 0.00164225 -0.01952522 0.10649373
+v -0.01149696 -0.01627264 0.10626615
+v -0.01153426 -0.01627264 0.10734939
+v -0.01172078 -0.01627266 0.11102806
+v -0.02292598 -0.01627271 0.12437934
+v -0.00615404 -0.02757747 0.12437930
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+v -0.00222003 -0.03149544 0.10918100
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+v -0.01273943 -0.01627263 0.10461611
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+v -0.02689442 -0.01857373 0.11368036
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+v -0.01106941 -0.02563245 0.12437931
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+v -0.01805939 -0.02737842 0.11363656
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+v -0.02370360 -0.01627262 0.10202289
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+v -0.01805939 -0.02737841 0.11255988
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+v -0.02001922 -0.02498561 0.11080919
+v -0.01169782 -0.02636621 0.10202285
+v -0.01108950 -0.02662741 0.10202285
+v -0.02013113 -0.02060111 0.10202287
+v -0.02197906 -0.02247153 0.10906068
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+f 1 42 56
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+
diff --git a/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_8.obj b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53b6d7c3100f977fa25a008a512006186972c57b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d3ce55c01c6d5e629c8a6a2e65ec266b/mjcf/mesh/water_bottle_collision_8.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.04284575 0.03277526 -0.10587031
+v -0.04026397 0.03599769 -0.10643728
+v -0.04007598 0.03579870 -0.11406218
+v -0.04065667 0.03501532 -0.11406218
+v -0.04230266 0.03277529 -0.11406219
+v -0.04221493 0.03277492 -0.01419541
+v -0.04001749 0.03572211 -0.01419540
+v -0.03813336 0.03823984 -0.10643727
+v -0.03797462 0.03803873 -0.11406217
+v -0.03865139 0.03732523 -0.11406217
+v -0.03603618 0.03277529 -0.11406219
+v -0.03596099 0.03277492 -0.01419541
+v -0.03784093 0.03796214 -0.01419539
+v -0.03591921 0.04048834 -0.10643726
+v -0.03576046 0.04033169 -0.11406216
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