diff --git a/.gitattributes b/.gitattributes
index f95e0cf444ad56eecda7ca26ae4af61ef419ebf1..9d5963bb79f3b4d96d3e2570fae85d6e4277f37f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4564,3 +4564,5 @@ dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/spatula_019.u
 dataset/kitchen_supplies/utensils/a57d95d6fad95083a0d8d04467ae4640/a57d95d6fad95083a0d8d04467ae4640.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/a57d95d6fad95083a0d8d04467ae4640/mesh/spatula.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/a57d95d6fad95083a0d8d04467ae4640/mesh/spatula_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mesh/spice_jar_022.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/spice_jar_022.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mesh/material.mtl b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d8763fd8ccda39fc45866fa09e8a55a535056ac7
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl spice_jar_022_geometry_Looks_material_0
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+Ns 1.00000000
+map_Kd spice_jar_022_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mesh/material_0.png b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3ac67cee6c68041f3667a8ac15b3c33ad5f12c39
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mesh/spice_jar_022.glb b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mesh/spice_jar_022.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f0e4dce369a7f9994a46a5f4f99bebb4084d9cdf
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mesh/spice_jar_022.glb
@@ -0,0 +1,3 @@
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+size 15323984
diff --git a/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mesh/spice_jar_022.mtl b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mesh/spice_jar_022.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..342d8ec1fd5efcc345da4d14aad48d474f5fe2f8
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mesh/spice_jar_022.mtl
@@ -0,0 +1,6 @@
+newmtl spice_jar_022_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
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diff --git a/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mesh/spice_jar_022.obj b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mesh/spice_jar_022.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f153bc550408a2416fc214463f5d3201cd090a76
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mesh/spice_jar_022.obj
@@ -0,0 +1,114108 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mesh/spice_jar_022_collision.obj b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mesh/spice_jar_022_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1b321fd8b2beea6071854f357d2706727e0cbdb
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mesh/spice_jar_022_collision.obj
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diff --git a/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mesh/spice_jar_022_geometry_Looks_material_0.png b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mesh/spice_jar_022_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022.obj b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022.obj
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diff --git a/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision.obj b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ac6f09811957637c53c48f8ad63c349804ea8dc
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision.obj
@@ -0,0 +1,16893 @@
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diff --git a/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_0.obj b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78f6c39a8d639b39ad4832ac1d0521c40762912b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_0.obj
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diff --git a/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_1.obj b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..595a63f982ad3f8ef0f215c6a95973b84685b114
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_1.obj
@@ -0,0 +1,2611 @@
+# https://github.com/mikedh/trimesh
+v -0.06052385 0.00143733 0.07510159
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diff --git a/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_10.obj b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d1d25514552e132fc2b0410df01c292ef5d40a0
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_10.obj
@@ -0,0 +1,700 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_11.obj b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54915144d244c849aadfa82a23e87046be015d41
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_11.obj
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diff --git a/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_12.obj b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58e4f64d9dcde0f93430a76e809b1e04d5e5012f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_12.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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+v -0.01169303 0.03299820 -0.07585405
+v -0.01279594 0.05803126 -0.07585396
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+
diff --git a/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_13.obj b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f912b2f53d199817ae1f3cb7b7038791dea72b7f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_13.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.02573862 0.01979837 -0.06909529
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+
diff --git a/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_14.obj b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f39518d06beb29b359d7a95ad25f2d44185f3f4
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_14.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
+v 0.05256985 0.01847506 -0.09090803
+v 0.04775164 0.02896524 -0.09088588
+v 0.04973173 0.02699021 -0.09084611
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diff --git a/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_15.obj b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e6bbc42073377cd269cf2ffaa818bcbbf8c8adc
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_15.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_16.obj b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28de7acadd6d72998f22d2699d928708b366da20
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_16.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_17.obj b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f7515003b8edc8c72f3dfe8dce09d772decaf5b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_17.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_18.obj b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b02778e0d76b3043afd0e6353bf9cc87a96ac35
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_18.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_19.obj b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5577dbde617255b6f30e72b1693d9f26b20c73c9
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_19.obj
@@ -0,0 +1,256 @@
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diff --git a/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_2.obj b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55dce6a9c1e1925728f5534745af6d064b95f3cd
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_2.obj
@@ -0,0 +1,2602 @@
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diff --git a/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_20.obj b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94f608483864031a0a0034a5964a0b3ce7b9be7c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_20.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_21.obj b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a32bfd8cae9ac735b4683a5af039d4810b37e873
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_21.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_22.obj b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..066caadbb90905ce094bbf331628617bb91e5b42
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_22.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_23.obj b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72b3f1a96f9db59d620e2108731347d267bdd11f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_23.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.01903037 0.02661038 -0.06909526
+v 0.01903037 0.02923906 -0.07585406
+v 0.02769226 0.01649691 -0.06909530
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+
diff --git a/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_24.obj b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..414bbed756428660d9d52af9a0f08d8a11bae957
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_24.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.00992572 0.02699848 -0.06524627
+v -0.00992572 0.03147066 -0.06909523
+v 0.01613937 0.02345788 -0.06524628
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+v -0.00701457 0.05781207 -0.06524616
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+
diff --git a/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_25.obj b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3f8b0534290595f5da69be85322668b8da63a05
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_25.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.02307216 -0.05469974 -0.07585437
+v -0.02131800 -0.05541857 -0.07585437
+v -0.02277636 -0.05393557 -0.06909556
+v -0.02291806 -0.05387276 -0.06909556
+v -0.02307216 -0.05380297 -0.06909556
+v -0.02307216 -0.02603703 -0.07585427
+v -0.01870259 -0.05636074 -0.07585438
+v -0.01847558 -0.05554074 -0.06909556
+v -0.01955009 -0.05515340 -0.06909556
+v -0.02143357 -0.05446597 -0.06909556
+v -0.02264428 -0.05398791 -0.06909556
+v -0.02307216 -0.02307099 -0.06909544
+v -0.00901828 -0.03408729 -0.07585430
+v -0.01729239 -0.05683531 -0.07585438
+v -0.01563591 -0.05641311 -0.06909557
+v -0.00901828 -0.03166562 -0.06909548
+v -0.00901828 -0.05871963 -0.07585439
+v -0.01434678 -0.05677950 -0.06909557
+v -0.01562628 -0.05730639 -0.07585438
+v -0.00901828 -0.05784380 -0.06909557
+v -0.00920951 -0.05869172 -0.07585439
+v -0.01428900 -0.05679346 -0.06909557
+v -0.01489435 -0.05749133 -0.07585438
+v -0.01279349 -0.05802173 -0.07585438
+v -0.00995107 -0.05770422 -0.06909557
+v -0.00995107 -0.05858005 -0.07585439
+v -0.01287879 -0.05712147 -0.06909557
+v -0.01205193 -0.05816829 -0.07585438
+v -0.01102558 -0.05749136 -0.06909557
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 6
+f 1 6 13
+f 1 13 17
+f 1 17 21
+f 1 21 26
+f 1 26 28
+f 1 28 24
+f 1 24 23
+f 1 23 19
+f 1 19 14
+f 1 14 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 3 11 10
+f 3 10 9
+f 3 9 8
+f 3 8 15
+f 3 15 18
+f 3 18 22
+f 3 22 27
+f 3 27 29
+f 3 29 25
+f 3 25 20
+f 3 20 16
+f 3 16 12
+f 3 12 5
+f 3 5 4
+f 6 12 13
+f 7 14 8
+f 8 14 15
+f 12 16 13
+f 13 16 20
+f 13 20 17
+f 14 18 15
+f 14 19 18
+f 17 20 21
+f 18 19 23
+f 18 23 24
+f 18 24 22
+f 20 25 21
+f 21 25 26
+f 22 24 27
+f 24 28 25
+f 24 25 29
+f 24 29 27
+f 25 28 26
+
diff --git a/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_26.obj b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b09fb9732efacc5004ac5e540997d697ee4fab4
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_26.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.05715542 0.01649694 -0.07585411
+v 0.05624567 0.01649691 -0.06909530
+v 0.05650426 0.01565417 -0.06909530
+v 0.05740155 0.01562837 -0.07585411
+v 0.03012470 0.01649694 -0.07585411
+v 0.02769144 0.01649691 -0.06909530
+v 0.05664758 0.01514078 -0.06909530
+v 0.05810255 0.01279502 -0.07585412
+v 0.05686878 0.01434002 -0.06909531
+v 0.03412821 0.00000379 -0.07585417
+v 0.03181957 0.00000376 -0.06909536
+v 0.05720215 0.01288218 -0.06909531
+v 0.05757290 0.01102879 -0.06909532
+v 0.05778476 0.00995680 -0.06909532
+v 0.05824587 0.01205400 -0.07585413
+v 0.05951702 0.00000379 -0.07585417
+v 0.05863843 0.00000376 -0.06909536
+v 0.05821160 0.00711861 -0.06909533
+v 0.05875994 0.00921581 -0.07585414
+v 0.05864778 0.00995683 -0.07585413
+v 0.05951702 0.00144065 -0.07585416
+v 0.05864155 0.00144062 -0.06909535
+v 0.05839230 0.00535241 -0.06909534
+v 0.05936748 0.00430951 -0.07585415
+v 0.05906838 0.00711864 -0.07585414
+v 0.05850134 0.00428042 -0.06909534
+v 0.05858858 0.00251422 -0.06909535
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 15
+f 1 15 20
+f 1 20 19
+f 1 19 25
+f 1 25 24
+f 1 24 21
+f 1 21 16
+f 1 16 10
+f 1 10 5
+f 1 5 6
+f 1 6 2
+f 2 6 11
+f 2 11 17
+f 2 17 22
+f 2 22 27
+f 2 27 26
+f 2 26 23
+f 2 23 18
+f 2 18 14
+f 2 14 13
+f 2 13 12
+f 2 12 9
+f 2 9 7
+f 2 7 3
+f 3 7 4
+f 4 7 9
+f 4 9 8
+f 5 10 6
+f 6 10 11
+f 8 12 13
+f 8 13 14
+f 8 14 15
+f 8 9 12
+f 10 16 17
+f 10 17 11
+f 14 18 19
+f 14 19 20
+f 14 20 15
+f 16 21 22
+f 16 22 17
+f 18 23 24
+f 18 24 25
+f 18 25 19
+f 21 24 26
+f 21 26 27
+f 21 27 22
+f 23 26 24
+
diff --git a/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_27.obj b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7befccbbb102632f606e2fb95ce679c3c9b6acef
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_27.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.00428560 0.03264816 -0.06909524
+v 0.00428560 0.03489094 -0.07585404
+v 0.01903037 0.02660779 -0.06909526
+v 0.00428560 0.05842851 -0.06909515
+v 0.01903037 0.02923769 -0.07585406
+v 0.00428560 0.05929237 -0.07585395
+v 0.01903037 0.05538273 -0.06909516
+v 0.00533354 0.05832613 -0.06909515
+v 0.00428560 0.05843171 -0.06911102
+v 0.01903037 0.05627858 -0.07585396
+v 0.00710175 0.05815337 -0.06909515
+v 0.00636127 0.05908121 -0.07585395
+v 0.01869982 0.05640016 -0.07585396
+v 0.01846887 0.05558749 -0.06909516
+v 0.00817568 0.05799660 -0.06909515
+v 0.00920341 0.05870048 -0.07585395
+v 0.00710175 0.05900443 -0.07585395
+v 0.01729391 0.05688006 -0.07585396
+v 0.01563106 0.05646412 -0.06909515
+v 0.00994389 0.05773745 -0.06909515
+v 0.00994389 0.05859171 -0.07585395
+v 0.01561951 0.05735036 -0.07585396
+v 0.01434062 0.05681924 -0.06909515
+v 0.01278459 0.05805102 -0.07585396
+v 0.01101782 0.05752630 -0.06909515
+v 0.01488624 0.05753272 -0.07585396
+v 0.01427856 0.05683524 -0.06909515
+v 0.01286975 0.05715517 -0.06909515
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 19
+f 1 19 23
+f 1 23 27
+f 1 27 28
+f 1 28 25
+f 1 25 20
+f 1 20 15
+f 1 15 11
+f 1 11 8
+f 1 8 4
+f 1 4 9
+f 1 9 6
+f 1 6 2
+f 2 5 3
+f 2 6 12
+f 2 12 17
+f 2 17 16
+f 2 16 21
+f 2 21 24
+f 2 24 26
+f 2 26 22
+f 2 22 18
+f 2 18 13
+f 2 13 10
+f 2 10 5
+f 3 5 10
+f 3 10 7
+f 4 8 9
+f 6 9 11
+f 6 11 12
+f 7 10 13
+f 7 13 14
+f 8 11 9
+f 11 15 16
+f 11 16 17
+f 11 17 12
+f 13 18 14
+f 14 18 19
+f 15 20 16
+f 16 20 21
+f 18 22 19
+f 19 22 23
+f 20 24 21
+f 20 25 24
+f 22 26 27
+f 22 27 23
+f 24 25 28
+f 24 28 27
+f 24 27 26
+
diff --git a/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_28.obj b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b172204b2f020a0bbab8000576da7b972b6068e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_28.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.02144629 0.01844203 -0.06524630
+v -0.02652115 0.01844204 -0.06909528
+v -0.05529689 0.01844203 -0.06524630
+v -0.02754195 0.00000244 -0.06524637
+v -0.03185121 0.00000245 -0.06909535
+v -0.05566147 0.01844204 -0.06909528
+v -0.05556303 0.01844204 -0.06805193
+v -0.05531877 0.01837524 -0.06524630
+v -0.05834108 0.00000244 -0.06524637
+v -0.05868743 0.00000245 -0.06909535
+v -0.05593126 0.01756835 -0.06909529
+v -0.05616093 0.01562780 -0.06524631
+v -0.05834108 0.00144115 -0.06524636
+v -0.05858899 0.00144116 -0.06801356
+v -0.05868378 0.00144116 -0.06909534
+v -0.05651092 0.01566933 -0.06909529
+v -0.05618281 0.01555560 -0.06524631
+v -0.05819525 0.00428064 -0.06524635
+v -0.05854159 0.00428065 -0.06909533
+v -0.05859628 0.00320659 -0.06909534
+v -0.05648176 0.01543105 -0.06806023
+v -0.05688279 0.01435880 -0.06909530
+v -0.05670050 0.01362409 -0.06524632
+v -0.05825723 0.00711835 -0.06909532
+v -0.05790724 0.00711834 -0.06524634
+v -0.05722913 0.01288941 -0.06909530
+v -0.05703226 0.01221066 -0.06524633
+v -0.05748069 0.00995603 -0.06524633
+v -0.05799109 0.00888559 -0.06909532
+v -0.05782703 0.00995604 -0.06909531
+v -0.05705414 0.01211318 -0.06524633
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
+f 1 8 12
+f 1 12 17
+f 1 17 23
+f 1 23 27
+f 1 27 31
+f 1 31 28
+f 1 28 25
+f 1 25 18
+f 1 18 13
+f 1 13 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 15
+f 2 15 20
+f 2 20 19
+f 2 19 24
+f 2 24 29
+f 2 29 30
+f 2 30 26
+f 2 26 22
+f 2 22 16
+f 2 16 11
+f 2 11 6
+f 3 7 8
+f 4 9 10
+f 4 10 5
+f 6 11 7
+f 7 11 8
+f 8 11 12
+f 9 13 10
+f 10 13 14
+f 10 14 15
+f 11 16 12
+f 12 16 17
+f 13 18 19
+f 13 19 20
+f 13 20 14
+f 14 20 15
+f 16 21 17
+f 16 22 21
+f 17 21 22
+f 17 22 23
+f 18 24 19
+f 18 25 24
+f 22 26 23
+f 23 26 27
+f 24 25 28
+f 24 28 29
+f 26 30 31
+f 26 31 27
+f 28 31 30
+f 28 30 29
+
diff --git a/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_29.obj b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c8df32989f2b5439f0891253dabec3be4515f75
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_29.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.01169105 0.03082030 -0.06909525
+v -0.01169105 0.03299722 -0.07585405
+v 0.00428259 0.03264698 -0.06909524
+v -0.01169105 0.05737445 -0.06909515
+v 0.00428259 0.03489115 -0.07585404
+v -0.01169105 0.05824859 -0.07585396
+v 0.00428259 0.05843067 -0.06909515
+v -0.00995044 0.05772466 -0.06909515
+v 0.00428259 0.05929081 -0.07585395
+v -0.00995044 0.05858759 -0.07585395
+v 0.00422316 0.05929642 -0.07585395
+v 0.00141753 0.05943930 -0.07585395
+v 0.00249036 0.05852032 -0.06909515
+v -0.00710727 0.05814770 -0.06909515
+v -0.00710727 0.05901065 -0.07585395
+v -0.00142564 0.05943930 -0.07585395
+v 0.00141753 0.05857356 -0.06909514
+v -0.00426567 0.05843067 -0.06909515
+v -0.00423596 0.05929922 -0.07585395
+v -0.00181035 0.05942249 -0.07585395
+v -0.00142564 0.05857075 -0.06909514
+v -0.00319284 0.05848390 -0.06909515
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 17
+f 1 17 21
+f 1 21 22
+f 1 22 18
+f 1 18 14
+f 1 14 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 10
+f 2 10 15
+f 2 15 19
+f 2 19 20
+f 2 20 16
+f 2 16 12
+f 2 12 11
+f 2 11 9
+f 2 9 5
+f 3 5 9
+f 3 9 7
+f 4 8 6
+f 6 8 10
+f 7 9 11
+f 7 11 12
+f 7 12 13
+f 8 14 15
+f 8 15 10
+f 12 16 17
+f 12 17 13
+f 14 18 19
+f 14 19 15
+f 16 20 21
+f 16 21 17
+f 18 22 20
+f 18 20 19
+f 20 22 21
+
diff --git a/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_3.obj b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e967d548ac3de56061991b90ffa01af1b193d729
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_3.obj
@@ -0,0 +1,880 @@
+# https://github.com/mikedh/trimesh
+v -0.05932462 -0.01271344 -0.08518649
+v -0.05932075 -0.01271344 -0.08513928
+v -0.05884919 -0.01271343 -0.08797510
+v -0.05931689 -0.01275697 -0.08518649
+v -0.05908497 -0.01271345 -0.08232263
+v -0.05883373 -0.01271343 -0.08805035
+v -0.05882600 -0.01275696 -0.08804888
+v -0.05816891 -0.01559529 -0.08804889
+v -0.05863661 -0.01559530 -0.08518650
+v -0.05907724 -0.01275698 -0.08232558
+v -0.05869072 -0.01271346 -0.07946466
+v -0.05758912 -0.01271342 -0.09000829
+v -0.05756206 -0.01275695 -0.09004075
+v -0.05724125 -0.01559528 -0.08983862
+v -0.05699774 -0.01756295 -0.08963500
+v -0.05668465 -0.01945661 -0.08915549
+v -0.05734174 -0.01848150 -0.08814037
+v -0.05702866 -0.02034469 -0.08724772
+v -0.05780171 -0.01843362 -0.08518651
+v -0.05838536 -0.01559531 -0.08232559
+v -0.05826941 -0.01271347 -0.07655949
+v -0.05798338 -0.01559532 -0.07946467
+v -0.05826554 -0.01275700 -0.07660228
+v -0.05756593 -0.01271342 -0.09004222
+v -0.05545550 -0.01271342 -0.09080503
+v -0.05542071 -0.01559528 -0.09061028
+v -0.05561011 -0.01848149 -0.09016028
+v -0.05489890 -0.02127192 -0.09007913
+v -0.05433070 -0.02411460 -0.08975307
+v -0.05403308 -0.02559906 -0.08951256
+v -0.05631745 -0.02128499 -0.08814038
+v -0.05517720 -0.02411461 -0.08804892
+v -0.05429205 -0.02612146 -0.08804893
+v -0.05563330 -0.02411462 -0.08518653
+v -0.05654936 -0.02194234 -0.08518652
+v -0.05709437 -0.02052318 -0.08518652
+v -0.05754660 -0.01843363 -0.08232560
+v -0.05696681 -0.02018364 -0.08232560
+v -0.05700933 -0.01753253 -0.07660229
+v -0.05815731 -0.01271347 -0.07585423
+v -0.05814958 -0.01275700 -0.07585423
+v -0.05695135 -0.01735404 -0.07585424
+v -0.05756206 -0.01559533 -0.07660229
+v -0.05542071 -0.01271342 -0.09081536
+v -0.05542071 -0.01275695 -0.09081389
+v -0.05257974 -0.02127192 -0.09084342
+v -0.05257974 -0.02411460 -0.09050555
+v -0.05256042 -0.02670914 -0.08999210
+v -0.05160183 -0.02921226 -0.08981654
+v -0.05108389 -0.03110592 -0.08935324
+v -0.05353446 -0.02754062 -0.08804893
+v -0.05144336 -0.03166750 -0.08744401
+v -0.05379343 -0.02796725 -0.08518654
+v -0.05450464 -0.02654809 -0.08518654
+v -0.05537046 -0.02411463 -0.08232562
+v -0.05437323 -0.02628255 -0.08232563
+v -0.05641795 -0.02160280 -0.08232561
+v -0.05715621 -0.01849023 -0.07968601
+v -0.05685858 -0.01989632 -0.08078817
+v -0.05671557 -0.01946971 -0.07888040
+v -0.05653391 -0.01895169 -0.07660230
+v -0.03181945 -0.01271347 -0.07585423
+v -0.05762777 -0.01485527 -0.07585423
+v -0.05647593 -0.01875144 -0.07585425
+v -0.05744224 -0.01559533 -0.07585424
+v -0.03553009 -0.01271342 -0.09062207
+v -0.05257974 -0.01559528 -0.09087586
+v -0.05257974 -0.01843360 -0.09092604
+v -0.04973491 -0.02695292 -0.09085672
+v -0.04689395 -0.03262956 -0.09074460
+v -0.04997843 -0.03001326 -0.09027245
+v -0.04915899 -0.03262956 -0.08998327
+v -0.04856761 -0.03441440 -0.08968819
+v -0.04897733 -0.03497598 -0.08804896
+v -0.05050410 -0.03262087 -0.08825846
+v -0.05209659 -0.03001327 -0.08825845
+v -0.04923243 -0.03531990 -0.08518657
+v -0.05065485 -0.03327386 -0.08518656
+v -0.05155932 -0.03185470 -0.08518656
+v -0.05277301 -0.02979126 -0.08518655
+v -0.05365815 -0.02770171 -0.08232563
+v -0.05250631 -0.02979127 -0.08232564
+v -0.05494915 -0.02411464 -0.07946470
+v -0.05416063 -0.02585594 -0.07946470
+v -0.05625947 -0.02101512 -0.07968602
+v -0.05567968 -0.02127197 -0.07660231
+v -0.05555213 -0.02127197 -0.07585426
+v -0.02930316 -0.01271345 -0.08244509
+v -0.01984101 -0.02876828 -0.07585429
+v -0.03273165 -0.01271342 -0.09038748
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diff --git a/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_30.obj b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d58d32e881dcdf4ffeee719c33e94af10dec955c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_30.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_4.obj b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f33a8d08b7f28f4723cae3f32f787cc4025fa0ab
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_4.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_5.obj b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74d545fca126eeeede4d5c4f067ad2373e298fe7
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_5.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_6.obj b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45443ac2d9dcf5db01debed39b76ee1a7a0b894d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_6.obj
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diff --git a/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_7.obj b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f4aae605c40266243c1e583c7986ab9a2b8f21d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_7.obj
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diff --git a/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_8.obj b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f5f262b53b99a1224d4784b788dd092b6fc8a61
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_8.obj
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diff --git a/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_9.obj b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1789057877d33ddaafbac4cf5bd05c6930a9741d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/mesh/spice_jar_022_collision_9.obj
@@ -0,0 +1,667 @@
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diff --git a/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/spice_jar_022.xml b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/spice_jar_022.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e6c9942ecda835bec7908fd87147112d28c0e4bc
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mjcf/spice_jar_022.xml
@@ -0,0 +1,76 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="spice_jar_022">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/spice_jar_022.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/spice_jar_022_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/spice_jar_022_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/spice_jar_022_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/spice_jar_022_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/spice_jar_022_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/spice_jar_022_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/spice_jar_022_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/spice_jar_022_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/spice_jar_022_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/spice_jar_022_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/spice_jar_022_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/spice_jar_022_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/spice_jar_022_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/spice_jar_022_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/spice_jar_022_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/spice_jar_022_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/spice_jar_022_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/spice_jar_022_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/spice_jar_022_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/spice_jar_022_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/spice_jar_022_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/spice_jar_022_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/spice_jar_022_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/spice_jar_022_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/spice_jar_022_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/spice_jar_022_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/spice_jar_022_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/spice_jar_022_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/spice_jar_022_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/spice_jar_022_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/spice_jar_022_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="spice_jar_022">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/spice_jar_022.urdf b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/spice_jar_022.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9d34a35d9af99d4e1771348f1cd35eafbca68549
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/spice_jar_022.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="spice_jar_022">
+   <link name="spice_jar_022">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/spice_jar_022.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/spice_jar_022_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>9fd8373033045141b07e4c4f9b2165bc</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>utensils</super_category>
+         <category>spice_jar</category>
+         <name>silver spice jar</name>
+         <color>silver</color>
+         <shape>cylinder</shape>
+         <material>metal</material>
+         <description>reflective cylindrical spice jar with lid and slightly flared base</description>
+         <min_height>0.1738</min_height>
+         <max_height>0.1738</max_height>
+         <real_height>0.1738</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611155113</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.060362 -0.060479 -0.090567</min>
+            <max>0.060355 0.060521 0.083256</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/spice_jar_022.usd b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/spice_jar_022.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/spice_jar_022.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc4401dd140f268dabd1c57f215113256f896744d8064ffd548d7b2f03b35794
+size 4970311
diff --git a/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/textures/material_0.png b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/textures/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/textures/material_0.png
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diff --git a/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/video.mp4 b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/video.mp4
@@ -0,0 +1,3 @@
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