diff --git a/.gitattributes b/.gitattributes
index fba9f5d2f5c7da491094c780eb5351535b266ef1..c726c411a77df9caaf8d27b1a7a90f824ee9a8c0 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3858,8 +3858,4 @@ dataset/kitchen_supplies/cookware/7edef1c8d40d525f9990481a78355862/mesh/pot_gs.p
 dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/beb7a328c8885f31ab20b68b206032b6.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mesh/pot.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/cookware/beb7a328c8885f31ab20b68b206032b6/mesh/pot_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/d4fc3a3574865a8ca499337875006608.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mesh/soup_pot.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cookware/d4fc3a3574865a8ca499337875006608/mesh/soup_pot_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/mesh/wire_cutters_010.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/wire_cutters_010.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/c6d21b856a1c5efc8d9e60ef27c73803.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/c6d21b856a1c5efc8d9e60ef27c73803.urdf b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/c6d21b856a1c5efc8d9e60ef27c73803.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..458081d7a53bfaec656631b65bdacdf51305a592
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/c6d21b856a1c5efc8d9e60ef27c73803.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="black_jar">
+   <link name="black_jar">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/black_jar.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/black_jar_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.0000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.225000</scale>
+         <version>v0.1.5</version>
+         <category>jar</category>
+         <description>ribbed cylindrical black jar with flat lid</description>
+         <min_height>0.2</min_height>
+         <max_height>0.25</max_height>
+         <real_height>0.225</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.2</max_mass>
+         <generate_time>20251013231538</generate_time>
+         <gs_model>mesh/black_jar_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.818050503730774</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/c6d21b856a1c5efc8d9e60ef27c73803.usd b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/c6d21b856a1c5efc8d9e60ef27c73803.usd
new file mode 100644
index 0000000000000000000000000000000000000000..bc5d4e4cbc7fd1eca1a8899da0442a6d7430a5f4
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/c6d21b856a1c5efc8d9e60ef27c73803.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7996713baab839d9d9c59e28520423a26d6989cd688b568e3513804c62126f49
+size 448281
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mesh/black_jar.glb b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mesh/black_jar.glb
new file mode 100644
index 0000000000000000000000000000000000000000..46897a88c61ca9afe76001b1670d59e0ee323bc5
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mesh/black_jar.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d10ffd01d40eaefe7291581047dbf556d7ae969e71b4e17b0a6882efd9c2bc1
+size 812892
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mesh/black_jar.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mesh/black_jar.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f6acf05aeae65293ee2cd6571950ca17c8d93e6
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mesh/black_jar.obj
@@ -0,0 +1,29242 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mesh/black_jar_collision.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mesh/black_jar_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..731c9cf4ba0f843d398f2e46cf32b48e88b73151
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mesh/black_jar_collision.obj
@@ -0,0 +1,25620 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mesh/black_jar_gs.ply b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mesh/black_jar_gs.ply
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--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mesh/black_jar_gs.ply
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+version https://git-lfs.github.com/spec/v1
+oid sha256:47aafa1f9e21b8a2f9ecffd17568bcc6bfbcebeb6d21ecfbfd569519f6ea5a6e
+size 63580523
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mesh/material.mtl b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mesh/material.mtl
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index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
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+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mesh/material_0.png b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:1e2cb1765ff93657e4f105a406bf0e111609574ae17bf12aef20c4fc12752736
+size 494560
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/c6d21b856a1c5efc8d9e60ef27c73803.xml b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/c6d21b856a1c5efc8d9e60ef27c73803.xml
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+    <mesh name="collision_mesh_0_41" file="mesh/black_jar_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/black_jar_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/black_jar_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/black_jar_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/black_jar_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/black_jar_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/black_jar_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/black_jar_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/black_jar_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/black_jar_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/black_jar_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/black_jar_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/black_jar_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/black_jar_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/black_jar_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/black_jar_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/black_jar_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/black_jar_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/black_jar_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/black_jar_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/black_jar_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_62" file="mesh/black_jar_collision_62.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_63" file="mesh/black_jar_collision_63.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_64" file="mesh/black_jar_collision_64.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_65" file="mesh/black_jar_collision_65.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_66" file="mesh/black_jar_collision_66.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_67" file="mesh/black_jar_collision_67.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_68" file="mesh/black_jar_collision_68.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_69" file="mesh/black_jar_collision_69.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_70" file="mesh/black_jar_collision_70.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_71" file="mesh/black_jar_collision_71.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_72" file="mesh/black_jar_collision_72.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_73" file="mesh/black_jar_collision_73.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_74" file="mesh/black_jar_collision_74.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_75" file="mesh/black_jar_collision_75.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_76" file="mesh/black_jar_collision_76.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_77" file="mesh/black_jar_collision_77.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_78" file="mesh/black_jar_collision_78.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_79" file="mesh/black_jar_collision_79.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_80" file="mesh/black_jar_collision_80.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_81" file="mesh/black_jar_collision_81.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_82" file="mesh/black_jar_collision_82.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_83" file="mesh/black_jar_collision_83.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_84" file="mesh/black_jar_collision_84.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="black_jar">
+      <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" />
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+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_63" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_64" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_65" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_67" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_68" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_81" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_82" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_83" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_84" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e7550033b102836c0e617862b0850a6c6429829
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar.obj
@@ -0,0 +1,29242 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93882dcd7a5c5d65fbb4f62262c8fa60c13ab4b9
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision.obj
@@ -0,0 +1,25620 @@
+# https://github.com/mikedh/trimesh
+
+o black_jar_collision.obj
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diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_0.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cea6647e0ba8ae6982b52d72af6a3247abb78f76
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_0.obj
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diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_1.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a73fc3bc614f8042a2902771ac3c6b6ccc23add
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_1.obj
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diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_10.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5aa4a1986cf75c2929db255cb08ba89ff3ca809
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_10.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.03323453 -0.08502148 -0.01640727
+v -0.00001644 -0.09192117 -0.01640730
+v -0.03323453 -0.10232805 -0.01640734
+v -0.03323453 -0.08359117 0.03298630
+v -0.00001644 -0.09014953 0.03298628
+v -0.00001644 -0.10960035 -0.01640736
+v -0.02069523 -0.10675501 -0.01640735
+v -0.02069523 -0.10710157 -0.01290687
+v -0.02069523 -0.10741687 -0.00920332
+v -0.03323453 -0.10252088 -0.01290686
+v -0.03323453 -0.10196084 0.03298624
+v -0.00001644 -0.10952237 0.03298621
+v -0.00178221 -0.10961078 -0.01640736
+v -0.00001644 -0.10981664 -0.01100192
+v -0.02069523 -0.10762012 -0.00549978
+v -0.02069523 -0.10774780 -0.00179623
+v -0.03323453 -0.10263294 -0.00920331
+v -0.02069523 -0.10669787 0.03298622
+v -0.03323453 -0.10207288 0.03140038
+v -0.00168466 -0.10952237 0.03298621
+v -0.00001644 -0.10958229 0.03154056
+v -0.00001644 -0.10998081 -0.00549978
+v -0.00188627 -0.10970459 -0.01290688
+v -0.00199359 -0.10989483 -0.00549978
+v -0.00199359 -0.10998082 -0.00179623
+v -0.00199359 -0.11004598 0.00190732
+v -0.00199359 -0.11011114 0.00561571
+v -0.02069523 -0.10780775 0.00190732
+v -0.03323453 -0.10273457 -0.00549976
+v -0.02069523 -0.10679167 0.03154057
+v -0.03323453 -0.10223441 0.02783703
+v -0.02069523 -0.10764885 0.01301798
+v -0.00175295 -0.10958229 0.03154056
+v -0.00001644 -0.10986627 0.02238322
+v -0.00001644 -0.11006681 -0.00179623
+v -0.00001644 -0.11010330 0.00016192
+v -0.00001644 -0.11013458 0.00190732
+v -0.00001644 -0.11019973 0.00561571
+v -0.00199359 -0.11012938 0.00931443
+v -0.02069523 -0.10782340 0.00561571
+v -0.03323453 -0.10278669 -0.00179621
+v -0.03323453 -0.10257832 0.01912450
+v -0.02069523 -0.10778693 0.00931443
+v -0.00189928 -0.10967868 0.02783701
+v -0.00001644 -0.11007991 0.01497612
+v -0.00001644 -0.10997830 0.01867967
+v -0.00001644 -0.10992620 0.02042508
+v -0.00001644 -0.11020756 0.00931443
+v -0.00199359 -0.11007208 0.01301798
+v -0.03323453 -0.10278671 0.00190734
+v -0.03323453 -0.10275026 0.01171740
+v -0.03323453 -0.10266169 0.01672155
+v -0.03323453 -0.10269817 0.01542095
+v -0.03323453 -0.10273725 0.01301800
+v -0.00001644 -0.11013201 0.01301798
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+f 1 29 41
+f 1 41 50
+f 1 50 51
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+f 28 40 41
+f 28 41 29
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+f 39 49 43
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+f 40 51 50
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+f 43 49 44
+f 43 52 53
+f 43 53 54
+f 43 54 51
+f 44 49 45
+f 45 49 55
+f 48 55 49
+
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_11.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfb85909d3a56ef13e7c185232efe78a8849187a
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_11.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.00001815 0.10642759 -0.03794733
+v -0.00001815 0.10587280 -0.04254773
+v -0.00169506 0.10587280 -0.04254773
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+v -0.00001815 0.08792157 -0.03794740
+v -0.00001815 0.10556100 -0.04503472
+v -0.00111955 0.10540511 -0.04625209
+v -0.01886604 0.10488695 -0.03794733
+v -0.00001815 0.07766908 -0.06463550
+v -0.05069760 0.07053894 -0.03794746
+v -0.05069760 0.05958491 -0.06463557
+v -0.00001815 0.10540511 -0.04625209
+v -0.00053908 0.10505206 -0.04879655
+v -0.01916372 0.10136095 -0.05269162
+v -0.01919845 0.10483651 -0.03794733
+v -0.00001815 0.09870156 -0.06463543
+v -0.05069760 0.09228672 -0.03794738
+v -0.05069760 0.08423514 -0.06463548
+v -0.00001815 0.10505206 -0.04879655
+v -0.00071272 0.10141142 -0.05997755
+v -0.01907442 0.09759651 -0.06347553
+v -0.03404755 0.09378159 -0.06335800
+v -0.03760975 0.09744514 -0.04832634
+v -0.03565501 0.10004494 -0.03794735
+v -0.00001815 0.10141142 -0.05997755
+v -0.00018187 0.09870156 -0.06463543
+v -0.05069760 0.09217667 -0.03877289
+v -0.03877069 0.09892614 -0.03794736
+v -0.05069760 0.08428099 -0.06456756
+v -0.05067776 0.08425807 -0.06463548
+v -0.00224576 0.09869240 -0.06463543
+v -0.01771006 0.09711049 -0.06463543
+v -0.03198366 0.09307547 -0.06463545
+v -0.03513407 0.09197502 -0.06463545
+v -0.04916953 0.08634893 -0.06359574
+v -0.05069760 0.08657818 -0.06060457
+v -0.05069760 0.08967777 -0.05103280
+v -0.05069760 0.09020506 -0.04923810
+v -0.03792231 0.09775694 -0.04625212
+v -0.03838371 0.09825213 -0.04254776
+v -0.03644881 0.09976065 -0.03794735
+v -0.05069760 0.09159437 -0.04247725
+v -0.05069760 0.09089283 -0.04625215
+v -0.05069760 0.08557402 -0.06247504
+v -0.05066288 0.08426724 -0.06463548
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+f 29 35 30
+f 30 35 45
+f 34 45 35
+f 35 44 36
+f 38 43 39
+f 39 43 40
+
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_12.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6477c83867bf3dfe53aa1de0229c3c606fd7889b
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_12.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.04221217 0.05342284 -0.08079059
+v -0.00001318 0.06767975 -0.08079054
+v 0.04221217 0.08052416 -0.08079049
+v 0.04221217 0.07174117 -0.05124175
+v -0.00001318 0.08338326 -0.05124170
+v -0.00001318 0.09184367 -0.08079045
+v 0.04221217 0.08118885 -0.07885836
+v 0.03105238 0.08670200 -0.08079047
+v 0.03397046 0.09031384 -0.07125421
+v 0.03384646 0.09378883 -0.06337819
+v 0.03750439 0.09394521 -0.05623394
+v 0.03810371 0.09528926 -0.05124166
+v 0.04221217 0.08953176 -0.05124168
+v -0.00001318 0.10335368 -0.05124163
+v -0.00001318 0.09394529 -0.07832321
+v 0.00043321 0.09394529 -0.07832321
+v 0.00168145 0.09180457 -0.08079045
+v 0.04221217 0.08331490 -0.07204964
+v 0.01602799 0.09046050 -0.08079046
+v 0.01539560 0.09381331 -0.07445319
+v 0.01888820 0.09766953 -0.06365584
+v 0.01865261 0.10116408 -0.05568436
+v 0.03541710 0.09689726 -0.05124165
+v 0.03576429 0.09669198 -0.05124165
+v 0.04221217 0.08778205 -0.05736490
+v 0.00175585 0.10334880 -0.05124163
+v 0.00044147 0.10141336 -0.05997958
+v -0.00001318 0.10141336 -0.05997958
+v -0.00001318 0.09746428 -0.07056578
+v 0.00008601 0.09746428 -0.07056578
+v 0.01898740 0.10142312 -0.05365968
+v 0.01936353 0.10173102 -0.05124164
+f 1 2 6
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+
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_13.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c9709accac342ae08bd1078fa6f1fad71ba383a
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_13.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
+v 0.06375493 -0.06174759 0.03911900
+v 0.08557860 -0.06174759 0.03911900
+v 0.08284527 -0.03318304 0.03911911
+v 0.08481717 -0.03318284 -0.01640665
+v 0.06600016 -0.06174739 -0.01640676
+v 0.09153726 -0.05809278 0.03911902
+v 0.08559813 -0.06174759 0.03895051
+v 0.09153726 -0.05872473 0.03154237
+v 0.09153726 -0.05844511 0.03524374
+v 0.09153726 -0.05810955 0.03895053
+v 0.10149048 -0.03318304 0.03911911
+v 0.10229486 -0.03318284 -0.01640665
+v 0.08620727 -0.06174739 -0.01640676
+v 0.09405192 -0.05679247 0.03524374
+v 0.09383325 -0.05656318 0.03895053
+v 0.09382154 -0.05654920 0.03911902
+v 0.08593003 -0.06174758 0.03524372
+v 0.09177935 -0.05921685 0.02042744
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+v 0.09446582 -0.05714758 0.02783559
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+v 0.10233000 -0.03536698 0.03911910
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+v 0.10307191 -0.03548142 -0.01640666
+v 0.10238076 -0.03318285 -0.01290640
+v 0.10357562 -0.03548147 -0.00179691
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+v 0.09448535 -0.05702997 -0.01640674
+v 0.08639470 -0.06174740 -0.01474360
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diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_14.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..522b0e3b42832743ed4628a8757f44d340db8d07
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_14.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_15.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39e7f81d1125ec19d6651beb0a22897e6b345f2a
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_15.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
+v 0.06177556 0.08665966 -0.01638730
+v 0.06177556 0.08681766 -0.01461839
+v 0.06909211 0.08507957 -0.01638731
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+
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_16.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a8418127d3f5694508fcdcbf22aaea9fcde70d6
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_16.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v -0.09063240 -0.00000221 0.02843996
+v -0.08453893 0.03187492 0.02844008
+v -0.10959649 -0.00000221 0.02843996
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+v -0.10181512 0.03187492 0.02844008
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+v -0.10959649 0.00164844 0.02843997
+v -0.10961636 -0.00000221 0.02783561
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+v -0.10696393 0.02065427 0.02783569
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diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_17.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7e3ee96b76b9e0c8138ee0e3eda52f3d9efd9fb
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_17.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_18.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee473f3e03702930afb887229a878dc7fb6a6409
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_18.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_19.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1997f875b70f2169867592476c5d7849455cb8a
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_19.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_2.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..771b0755ff5ba97213dc11e2f3d590fdf157ff60
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_2.obj
@@ -0,0 +1,538 @@
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diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_20.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a389f3693e2cbb8bc5976b6406344f06c9b46ce3
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_20.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_21.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c079febb53134f9a30bafc9b781e54d16990c768
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_21.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.08271610 -0.03344154 0.03909902
+v -0.08919836 -0.00000552 0.03909914
+v -0.10166258 -0.03344154 0.03909902
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+
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_22.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6293f1fda52f81b80bf9c3c525508267956211b
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_22.obj
@@ -0,0 +1,496 @@
+# https://github.com/mikedh/trimesh
+v -0.08787498 0.03187492 0.02854498
+v -0.10180631 0.03187492 0.02854498
+v -0.08459579 0.03187492 0.02782903
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diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_23.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..770e2e7343ec5ece300e4fbbae314436776b6b35
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_23.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_24.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c5075c46ed89baaa92cf18cd9a710091fe1fab9
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_24.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_25.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..120da2b0ebc705964859b147076bbf8444b59cae
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_25.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_26.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e51a4d6ffae4bd669f0f39357ab95a456f48a424
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_26.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_27.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aab0dfc77f2859c93423c4d9ae1befae9dbef657
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_27.obj
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diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_28.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd20a42a60ad7e8a3cc81498a37406e671986a87
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_28.obj
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diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_29.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..197bc2081a795f056d12099c56b6133fe7e57814
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_29.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_3.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85d4462b2e6e0466fbaeed4961f7f93f04215dd8
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_3.obj
@@ -0,0 +1,445 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_30.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bb41a9ad0e7012152f0435c514d6201f951fc5e
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_30.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.08921236 -0.01215846 0.03298268
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+v 0.10982908 0.00001116 0.01480983
+v 0.10426467 -0.01215840 0.01645836
+v 0.11008247 -0.00180065 0.00191138
+v 0.11004569 0.00001120 0.00191139
+v 0.11004773 0.00001120 0.00370015
+v 0.11004977 0.00001119 0.00561462
+v 0.11002934 0.00001118 0.00740821
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+v 0.10429941 -0.01215839 0.01301619
+v 0.10430145 -0.01215839 0.01267295
+v 0.10943264 -0.00146228 -0.01640654
+v 0.10979638 0.00001124 -0.00740953
+v 0.10976369 -0.00180061 -0.00920313
+v 0.10391523 -0.01215828 -0.01617451
+v 0.10942242 -0.00168980 -0.01640654
+v 0.10989856 -0.00180062 -0.00549991
+v 0.11000482 -0.00180063 -0.00179668
+v 0.10997621 0.00001122 -0.00179667
+v 0.10428306 -0.01215837 0.00897455
+v 0.10425854 -0.01215836 0.00529550
+v 0.10417680 -0.01215832 -0.00549994
+v 0.10413797 -0.01215831 -0.00920316
+v 0.10986790 0.00001123 -0.00549990
+v 0.10402967 -0.01215829 -0.01290639
+v 0.10992308 0.00001122 -0.00370630
+f 1 2 8
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+f 1 14 3
+f 1 3 4
+f 1 4 5
+f 1 5 16
+f 1 16 31
+f 1 31 41
+f 1 41 39
+f 1 39 38
+f 1 38 37
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+f 1 27 26
+f 1 26 19
+f 1 19 9
+f 1 9 2
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+f 10 27 20
+f 11 25 18
+f 15 29 30
+f 15 30 28
+f 16 32 30
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+f 28 30 32
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+f 30 40 33
+f 31 33 41
+f 33 40 42
+f 33 42 34
+f 33 34 39
+f 33 39 41
+f 34 42 35
+
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_31.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c7a983c93ff49f1e3fd97f94ff1b88018cf71c4
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_31.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.00175178 -0.11027836 0.00561698
+v 0.01159717 -0.10443921 0.00931705
+v 0.00175178 -0.11027247 0.00931702
+v -0.00001319 -0.11020457 0.00931703
+v -0.00001319 -0.11019865 0.00561699
+v 0.00175178 -0.11021341 0.00191694
+v 0.01159717 -0.10440962 -0.00920225
+v 0.01159717 -0.10443916 -0.00560710
+v 0.01159717 -0.10444212 -0.00186891
+v 0.01159717 -0.10444215 0.00561701
+v 0.01159717 -0.10442741 0.01275962
+v 0.00175178 -0.11018688 0.01302662
+v -0.00001319 -0.11013079 0.01302662
+v 0.01159717 -0.10441266 0.01672668
+v 0.01159717 -0.10439793 0.02042673
+v 0.01159717 -0.10436251 0.02413631
+v 0.01159717 -0.10418248 0.03529367
+v -0.00001319 -0.11013370 0.00191694
+v -0.00001319 -0.11006578 -0.00179264
+v 0.00175178 -0.11014254 -0.00179264
+v 0.01159717 -0.10432989 -0.01323606
+v 0.00175178 -0.10998912 0.02042671
+v -0.00001319 -0.11008062 0.01498154
+v 0.01159717 -0.10400832 0.04117750
+v -0.00001319 -0.10998017 -0.00549269
+v 0.00175178 -0.11005691 -0.00549269
+v 0.01159717 -0.10421771 -0.01639255
+v 0.00175178 -0.10987400 0.02413629
+v -0.00001319 -0.10958178 0.03154592
+v -0.00001319 -0.10992417 0.02042671
+v -0.00001319 -0.10997730 0.01869112
+v 0.01159717 -0.10295155 0.05746533
+v 0.00161199 -0.10958178 0.03154592
+v -0.00001319 -0.10981483 -0.01099508
+v 0.00175178 -0.10992111 -0.00920227
+v 0.01159717 -0.09110763 -0.01639250
+v 0.00162108 -0.10959931 -0.01639257
+v -0.00001319 -0.10952569 0.03294774
+v 0.01159717 -0.10265930 0.06116538
+v 0.00118467 -0.10924821 0.03894601
+v 0.00140060 -0.10942532 0.03524597
+v 0.00153244 -0.10952569 0.03294774
+v -0.00001319 -0.10959931 -0.01639257
+v 0.01159717 -0.08026803 0.07969431
+v -0.00001319 -0.09192239 -0.01639251
+v -0.00001319 -0.08102080 0.07969430
+v -0.00001319 -0.10942532 0.03524597
+v 0.00093805 -0.10905045 0.04265559
+v 0.01159717 -0.10232574 0.06487496
+v -0.00001319 -0.10913310 0.04112026
+v -0.00001319 -0.10924821 0.03894601
+v -0.00001319 -0.10932497 0.03734393
+v 0.01159717 -0.08012043 0.08101984
+v -0.00001319 -0.08087616 0.08101983
+v 0.00060961 -0.10883495 0.04635564
+v -0.00001319 -0.10905045 0.04265559
+v 0.01159717 -0.10189180 0.06858456
+v 0.00016070 -0.10859880 0.05006522
+v 0.01159717 -0.09315376 0.08101979
+v -0.00001319 -0.09495451 0.08101978
+v -0.00001319 -0.10883495 0.04635564
+v 0.00073917 -0.10497965 0.06722086
+v 0.00189157 -0.10528075 0.06471283
+v -0.00001319 -0.10839512 0.05205829
+v -0.00001319 -0.10850730 0.05131446
+v 0.01159717 -0.10129549 0.07098768
+v -0.00001319 -0.10859880 0.05006522
+v 0.00544650 -0.09457075 0.08101978
+v 0.01159717 -0.09987261 0.07284724
+v 0.00067553 -0.09495156 0.08101978
+v -0.00001319 -0.10199808 0.07169336
+v 0.00175178 -0.10200104 0.07169336
+v -0.00001319 -0.10497965 0.06722086
+v 0.00330536 -0.09480101 0.08101978
+v 0.00175178 -0.09494566 0.08101978
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+f 1 5 18
+f 1 18 6
+f 1 6 7
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+f 1 8 9
+f 1 9 10
+f 1 10 2
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+f 2 9 8
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+f 40 52 41
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+f 53 60 70
+f 53 70 75
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+f 62 64 63
+f 66 69 68
+f 66 68 72
+f 68 74 72
+f 70 72 75
+f 71 73 72
+f 72 74 75
+
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_32.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af173ae81950bbea9fcaf4744213ab5bfd660579
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_32.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.03942564 -0.07361304 -0.05055902
+v 0.03942564 -0.08195287 -0.01641017
+v 0.03942564 -0.09334363 -0.05055909
+v -0.00001318 -0.08362631 -0.05055906
+v -0.00001318 -0.09191682 -0.01641021
+v 0.03942564 -0.10235642 -0.01641025
+v 0.03942564 -0.09363608 -0.04992058
+v 0.03746837 -0.09739194 -0.04858339
+v 0.03819415 -0.09529555 -0.05055910
+v -0.00001318 -0.10352603 -0.05055913
+v -0.00001318 -0.10960037 -0.01641027
+v 0.03942564 -0.10233880 -0.01659077
+v 0.03928281 -0.10245507 -0.01641025
+v 0.03942564 -0.09520749 -0.04624996
+v 0.03933685 -0.09535547 -0.04624996
+v 0.03567710 -0.09692685 -0.05055911
+v 0.03780810 -0.09773371 -0.04624997
+v 0.03759577 -0.10117251 -0.03421179
+v 0.01862529 -0.10473457 -0.04079753
+v 0.01947074 -0.10172209 -0.05055912
+v 0.00111794 -0.10354717 -0.05055913
+v -0.00001318 -0.10493185 -0.04888763
+v -0.00001318 -0.10960741 -0.01661754
+v 0.00162367 -0.10960037 -0.01641027
+v 0.03942564 -0.10193713 -0.02009758
+v 0.03915927 -0.10251497 -0.01661752
+v 0.03915927 -0.10253611 -0.01641025
+v 0.03942564 -0.09534138 -0.04590228
+v 0.03942564 -0.09717353 -0.04062033
+v 0.03825977 -0.09823756 -0.04254591
+v 0.03942564 -0.10045378 -0.02909698
+v 0.03797410 -0.10141563 -0.03143374
+v 0.01896115 -0.10493541 -0.03883854
+v 0.00003700 -0.10853274 -0.03378726
+v 0.00031110 -0.10493185 -0.04888763
+v 0.00169316 -0.10355069 -0.05055913
+v -0.00001318 -0.10853274 -0.03378726
+v -0.00001318 -0.10943828 -0.02032160
+v 0.00159278 -0.10960741 -0.01661754
+v 0.02045517 -0.10683103 -0.01641026
+v 0.03942564 -0.10156013 -0.02309292
+v 0.03876164 -0.10193007 -0.02402562
+v 0.03840262 -0.10168343 -0.02772968
+v 0.03942564 -0.10110912 -0.02603143
+v 0.01946302 -0.10522433 -0.03513448
+v 0.00036514 -0.10871243 -0.03143377
+v -0.00001318 -0.10860673 -0.03282781
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+v 0.00081296 -0.10898374 -0.02772971
+v -0.00001318 -0.10871243 -0.03143377
+v -0.00001318 -0.10898374 -0.02772971
+f 1 2 6
+f 1 6 12
+f 1 12 25
+f 1 25 41
+f 1 41 44
+f 1 44 31
+f 1 31 29
+f 1 29 28
+f 1 28 14
+f 1 14 7
+f 1 7 3
+f 1 3 9
+f 1 9 16
+f 1 16 20
+f 1 20 36
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+f 1 4 5
+f 1 5 2
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+f 29 31 30
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+f 32 44 43
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+f 32 45 33
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+f 34 46 47
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+f 40 49 50
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+f 40 46 45
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+f 41 42 43
+f 41 43 44
+f 46 51 53
+f 46 53 52
+f 46 52 47
+f 48 53 51
+f 48 51 50
+
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_33.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36ef227dd1d917e3135d7efded52decd4733f9ee
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_33.obj
@@ -0,0 +1,490 @@
+# https://github.com/mikedh/trimesh
+v -0.08803964 -0.03344181 0.11280924
+v -0.08429942 -0.03344181 0.11260738
+v -0.08803964 -0.03173629 0.11280924
+v -0.09177986 -0.02425296 0.11284183
+v -0.09177986 -0.02799463 0.11270182
+v -0.09163046 -0.03344181 0.11202131
+v -0.09177986 -0.00000579 0.11281912
+v -0.08055920 -0.03344181 0.11217109
+v -0.09177986 -0.00180297 0.11282237
+v -0.09177986 -0.00928630 0.11283537
+v -0.09552008 -0.00000579 0.11285820
+v -0.09552008 -0.00180297 0.11285494
+v -0.09552008 -0.00554464 0.11280283
+v -0.09552008 -0.00928630 0.11270189
+v -0.09552008 -0.01302797 0.11246418
+v -0.09469434 -0.02425296 0.11200507
+v -0.09431679 -0.02799463 0.11182923
+v -0.09395011 -0.03073459 0.11151340
+v -0.09328192 -0.03344180 0.10953706
+v -0.08803964 -0.00000579 0.11237958
+v -0.07685430 -0.03344181 0.11153944
+v -0.09812763 -0.00000579 0.11194003
+v -0.09812763 -0.00180297 0.11193676
+v -0.09804886 -0.00554464 0.11188466
+v -0.09792392 -0.00928630 0.11178373
+v -0.09769847 -0.01302797 0.11155905
+v -0.09750019 -0.01559115 0.11133112
+v -0.09514795 -0.02799462 0.10933522
+v -0.09417555 -0.03140238 0.10933520
+v -0.09346390 -0.03327158 0.10933520
+v -0.09339872 -0.03344180 0.10933520
+v -0.08429942 -0.00000579 0.11169585
+v -0.07514581 -0.03344181 0.11121385
+v -0.09856494 -0.00000579 0.11068651
+v -0.09903485 -0.00000578 0.10933532
+v -0.09903213 -0.00180296 0.10933531
+v -0.09885286 -0.00554463 0.10933530
+v -0.09858667 -0.00928629 0.10933529
+v -0.09811948 -0.01302796 0.10933527
+v -0.09760884 -0.01627531 0.10933526
+v -0.09726116 -0.01814451 0.10933525
+v -0.09596825 -0.02425295 0.10933523
+v -0.09628876 -0.02425294 0.10563001
+v -0.09541143 -0.02799461 0.10563000
+v -0.09421358 -0.03207017 0.10580905
+v -0.09366491 -0.03344179 0.10707234
+v -0.09356984 -0.03344180 0.10793841
+v -0.08338406 -0.00000579 0.11146793
+v -0.07486332 -0.03344181 0.11100222
+v -0.08238178 -0.00000579 0.11121397
+v -0.09930103 -0.00000577 0.10563010
+v -0.09929832 -0.00180295 0.10563009
+v -0.09910546 -0.00554462 0.10563008
+v -0.09882026 -0.00928628 0.10563007
+v -0.09833950 -0.01302795 0.10563005
+v -0.09737525 -0.01853733 0.10717333
+v -0.09711177 -0.02028868 0.10581561
+v -0.09714165 -0.02113323 0.10192480
+v -0.09646803 -0.02425292 0.10192479
+v -0.09559613 -0.02799459 0.10192478
+v -0.09453681 -0.03173625 0.10192476
+v -0.09381973 -0.03344179 0.10492019
+v -0.07358399 -0.03344180 0.10935147
+v -0.08162667 -0.00000578 0.11023395
+v -0.09945857 -0.00000575 0.10192488
+v -0.09946129 -0.00180293 0.10192487
+v -0.09928474 -0.00554460 0.10192486
+v -0.09900769 -0.00928626 0.10192485
+v -0.09853778 -0.01302793 0.10192483
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+v -0.09744043 -0.01889086 0.10470535
+v -0.09751377 -0.01926076 0.10192481
+v -0.09757896 -0.01955864 0.09821959
+v -0.09719597 -0.02142784 0.09821958
+v -0.09656581 -0.02425291 0.09821957
+v -0.09568305 -0.02799458 0.09821956
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+v -0.09461558 -0.03173624 0.09821954
+v -0.09398813 -0.03344177 0.10103264
+v -0.08094762 -0.00000578 0.10933532
+v -0.07262517 -0.03344179 0.10717002
+v -0.09949388 -0.00000575 0.10014716
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+
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_34.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2d23e9b1d2f5d9120a9081d1d9fbf013460899a
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_34.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.09694440 -0.03548234 -0.05101606
+v 0.09592938 -0.02434303 -0.05403071
+v 0.09669412 -0.02434304 -0.05101602
+v 0.09691196 -0.03565881 -0.05101606
+v 0.09361661 -0.03395148 -0.06352672
+v 0.09361661 -0.03300078 -0.06352672
+v 0.08982070 -0.02940528 -0.07449213
+v 0.09220762 -0.02434299 -0.06490283
+v 0.07973072 -0.02434304 -0.05101602
+v 0.09511829 -0.03821754 -0.05101607
+v 0.08647900 -0.04687748 -0.06183283
+v 0.08609431 -0.04687748 -0.06338391
+v 0.08574206 -0.04687747 -0.06473672
+v 0.08450457 -0.04687746 -0.06873979
+v 0.08330416 -0.04687744 -0.07235509
+v 0.08244671 -0.04687743 -0.07490912
+v 0.08951944 -0.03319044 -0.07382739
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+v 0.07880375 -0.04687741 -0.08079855
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+
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_35.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70228f2eb1d75202f97ec97928f380181456deb8
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_35.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.03200624 -0.09521132 -0.05632187
+v -0.03580758 -0.09489603 -0.05632187
+v -0.03410040 -0.09365779 -0.06343779
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+v -0.05702601 -0.07582968 -0.07080285
+v -0.05702601 -0.07488955 -0.07321076
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+
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_36.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e29d799ea00b4ff13ffdda7531826f6df7759c5
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_36.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.10912930 -0.00000552 0.03909914
+v -0.08920055 -0.00000552 0.03909914
+v -0.10912930 -0.00081736 0.03909914
+v -0.10900807 -0.00000553 0.04144189
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diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_37.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1cd658c975f2a4c409318ada11706e6dbf27635
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_37.obj
@@ -0,0 +1,409 @@
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diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_38.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5487bb72c78ef4a1ca4ff83ade844ba60071b219
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_38.obj
@@ -0,0 +1,523 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_39.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ff4e7e5f57218a2ddd6fa5751d74a0386137af8
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_39.obj
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diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_4.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d585fa5d7903923d4205722df444c7efbc53d88d
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_4.obj
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+
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_40.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d2af96352820e0fc1c04e5da5c2d363217143cd
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_40.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.02652031 0.05746105 -0.08441659
+v -0.05069524 0.03840191 -0.08441666
+v -0.02652031 0.08549580 -0.08441649
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+
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_41.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f1fc2c0ce0ca4b58de89b7b4c292458f0a7c74d
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_41.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.03251242 0.07412757 0.08000931
+v -0.03251242 0.08884370 0.08000937
+v -0.03251242 0.07415199 0.07969765
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+
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_42.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e42d34db733dbf30da22caf91f001c0594288007
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_42.obj
@@ -0,0 +1,772 @@
+# https://github.com/mikedh/trimesh
+v 0.06177556 0.07190384 0.08010174
+v 0.06177556 0.07624692 0.08484377
+v 0.06373719 0.07513249 0.08510130
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diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_43.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6c7162a47b611723ddf3d939f59270ab01b1d89
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_43.obj
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diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_44.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea9f8b8f24d86b16f7a75127c5583770be0e9762
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_44.obj
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diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_45.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40892d4b5f260a4bf2b245dbdf4ad7c9b35ae3e3
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_45.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.02045602 -0.10782712 0.00190793
+v 0.01671540 -0.10724864 -0.00179527
+v 0.02045602 -0.10782196 -0.00179528
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+v 0.03603075 -0.10355680 0.00561660
+v 0.01671540 -0.10720754 0.00561659
+v 0.03603075 -0.10354138 0.00931982
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+v 0.01671540 -0.10703523 -0.00920170
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+v 0.03603075 -0.10334336 -0.00859808
+v 0.01671540 -0.10717412 0.00931981
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+v 0.01671540 -0.10710216 0.01301758
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+
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_46.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b97890e77c2286dab939770c285fa2e4478e93c
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_46.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.03942564 -0.10235439 -0.01640691
+v 0.05701141 -0.09453931 -0.01640688
+v 0.03942564 -0.08195046 -0.01640683
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+v 0.05857719 -0.09161205 -0.01662117
+v 0.06081073 -0.08410646 -0.03513947
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+
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_47.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2720788c285254a430a8092d22e4d7541cd5601d
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_47.obj
@@ -0,0 +1,454 @@
+# https://github.com/mikedh/trimesh
+v 0.06177556 0.08633845 0.02684529
+v 0.06177556 0.08628512 0.02784098
+v 0.06909444 0.08462125 0.02684528
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+
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_48.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e10bd5535bfa822bd4b9a007b5dc20e3ca257443
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_48.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.00001632 -0.10332939 -0.05110511
+v -0.00199239 -0.10329516 -0.05110511
+v -0.00081489 -0.10134859 -0.06016784
+v -0.00001632 -0.10134859 -0.06016784
+v -0.00001632 -0.08342333 -0.05110504
+v -0.01764757 -0.10190478 -0.05110510
+v -0.01885013 -0.10098925 -0.05556961
+v -0.00043283 -0.09737846 -0.07071002
+v -0.00001632 -0.09737846 -0.07071002
+v -0.00001632 -0.06836426 -0.08079867
+v -0.03200624 -0.05962836 -0.08079864
+v -0.03200624 -0.07692488 -0.05110501
+v -0.01959233 -0.10163954 -0.05110510
+v -0.01918208 -0.10128016 -0.05365999
+v -0.03200624 -0.09585124 -0.05365997
+v -0.03200624 -0.09494427 -0.05747632
+v -0.03200624 -0.09398596 -0.06102236
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+
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_49.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7999623eedd786d3335874d31d3c6cf823c8a8ff
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_49.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.04221217 0.09959144 -0.01638725
+v 0.04221217 0.09956858 -0.01658272
+v 0.04221217 0.08036633 -0.01638732
+v 0.05682206 0.09472085 -0.01638727
+v 0.05699448 0.09465226 -0.01661582
+v 0.05680482 0.09446361 -0.02032067
+v 0.05654618 0.09418923 -0.02402551
+v 0.05625307 0.09386911 -0.02773037
+v 0.05606340 0.09368619 -0.02982337
+v 0.04221217 0.09956286 -0.01661580
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+v 0.08097838 0.04119008 -0.01638747
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+v 0.07206417 0.08363054 -0.01661586
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+v 0.10055977 0.04119009 -0.02032087
+v 0.09949650 0.04119011 -0.02402571
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+
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_5.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbd93b56f1e0a858a18cc5f2a5d47072bcfc6782
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_5.obj
@@ -0,0 +1,592 @@
+# https://github.com/mikedh/trimesh
+v -0.00122314 0.09036572 -0.08441927
+v -0.00073283 0.09036572 -0.08441927
+v -0.00061421 0.09010323 -0.08554559
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+v -0.00001319 0.03449866 -0.11303716
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diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_50.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47c9bbf1ac326e63220d50410091ad203a45b49c
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_50.obj
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diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_51.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5434ede1550c497368004f318087dd54af8381a2
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_51.obj
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+
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_52.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90a2670ecb6b790dc96c8e3a4be9f6f30f29cfc8
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_52.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.03942564 -0.09334004 -0.05056205
+v 0.03819415 -0.09529691 -0.05056206
+v 0.03942564 -0.08033031 -0.08079868
+v 0.03942564 -0.07361577 -0.05056198
+v 0.03567710 -0.09692371 -0.05056207
+v 0.03394374 -0.09373138 -0.06364240
+v 0.03751084 -0.09380213 -0.05620386
+v 0.03942564 -0.05538616 -0.08079858
+v 0.03702056 -0.09314197 -0.05867548
+v 0.03399392 -0.09021370 -0.07125558
+v 0.03121823 -0.08674317 -0.08079870
+v -0.00001318 -0.08362173 -0.05056202
+v 0.01947074 -0.10171921 -0.05056208
+v 0.01898046 -0.10130425 -0.05366123
+v 0.01862915 -0.10100246 -0.05561188
+v 0.01550215 -0.09374077 -0.07470698
+v 0.03045771 -0.08988362 -0.07444353
+v 0.03295159 -0.08951582 -0.07372424
+v -0.00001318 -0.06836749 -0.08079863
+v 0.01614685 -0.09044943 -0.08079871
+v -0.00001318 -0.10352518 -0.05056209
+v 0.00169316 -0.10355347 -0.05056209
+v 0.00055817 -0.10134667 -0.06016736
+v 0.00019914 -0.09738103 -0.07070801
+v 0.00050412 -0.09380205 -0.07838926
+v -0.00001318 -0.09182159 -0.08079872
+v 0.00175492 -0.09184046 -0.08079872
+v -0.00001318 -0.10134667 -0.06016736
+v 0.00111794 -0.10354404 -0.05056209
+v -0.00001318 -0.09738103 -0.07070801
+v -0.00001318 -0.09380205 -0.07838926
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 12
+f 1 12 21
+f 1 21 29
+f 1 29 22
+f 1 22 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
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+f 3 9 10
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+f 3 11 20
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+f 3 19 8
+f 4 8 12
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 6 15 16
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+f 6 17 18
+f 6 18 10
+f 6 10 9
+f 6 9 7
+f 8 19 12
+f 10 18 11
+f 11 18 17
+f 11 17 16
+f 11 16 20
+f 12 19 26
+f 12 26 31
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+f 13 22 14
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+f 25 31 27
+f 26 27 31
+
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_53.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..caa41c75bb0ebca4d78720535d14b3d9c408a645
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_53.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.08657044 0.04826403 -0.06232686
+v -0.08651770 0.04826403 -0.06272688
+v -0.09400199 0.03431246 -0.06232691
+v -0.06262645 0.04826403 -0.06232686
+v -0.08638825 0.04826403 -0.06359395
+v -0.09382939 0.03403844 -0.06339508
+v -0.09772256 0.01908999 -0.06232697
+v -0.05069760 0.04826409 -0.07873849
+v -0.07882244 -0.00000188 -0.06232704
+v -0.08254301 0.04826407 -0.07362905
+v -0.09025745 0.03409516 -0.07107114
+v -0.08952868 0.03308412 -0.07353829
+v -0.09008005 0.03058956 -0.07444429
+v -0.09382939 0.01552300 -0.07449192
+v -0.09752119 0.01891046 -0.06323728
+v -0.08217863 0.04826407 -0.07442260
+v -0.07896148 0.04528765 -0.08441663
+v -0.09796229 0.01807421 -0.06232697
+v -0.06405523 -0.00000180 -0.08441680
+v -0.05069760 0.03839927 -0.08441666
+v -0.05069760 0.04826411 -0.08441662
+v -0.09967874 -0.00000188 -0.06232704
+v -0.08649372 0.03052817 -0.08213117
+v -0.09393008 0.00060765 -0.07829541
+v -0.09751161 0.00034304 -0.07062583
+v -0.09022868 0.01552776 -0.08207716
+v -0.07901423 0.04826409 -0.07818279
+v -0.08563550 0.02813757 -0.08441670
+v -0.07675120 0.04654910 -0.08441663
+v -0.09811093 0.01691670 -0.06232698
+v -0.09041567 -0.00000180 -0.08441680
+v -0.07363474 0.04826411 -0.08441662
+v -0.09966436 0.00200133 -0.06232703
+v -0.09751161 -0.00000185 -0.07062583
+v -0.09393008 -0.00000182 -0.07829541
+v -0.09040129 0.00117461 -0.08441680
+v -0.08852182 0.01395922 -0.08441675
+v -0.08867524 0.01311353 -0.08441675
+f 1 2 3
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+f 26 38 36
+f 27 32 29
+
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_54.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0d830993c06b7b78b3a0118d94e964e173b864e
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_54.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.10943094 0.00001127 -0.01639096
+v 0.10942734 0.00001127 -0.01661513
+v 0.10943094 0.00168809 -0.01639095
+v 0.09194782 0.00001127 -0.01639096
+v 0.10933729 0.00001128 -0.01861257
+v 0.10942734 0.00168003 -0.01661512
+v 0.10723024 0.02063292 -0.01639088
+v 0.08385098 0.00001140 -0.05056818
+v 0.08098036 0.04119008 -0.01639081
+v 0.07264219 0.04119021 -0.05056803
+v 0.10925805 0.00001128 -0.02032226
+v 0.10925805 0.00148253 -0.02032225
+v 0.10905275 0.00120845 -0.02402605
+v 0.10884385 0.00088196 -0.02772984
+v 0.10860973 0.00048696 -0.03143362
+v 0.10686286 0.02065308 -0.02032218
+v 0.10720503 0.02065307 -0.01661505
+v 0.10193561 0.03894495 -0.02402591
+v 0.10216612 0.03924724 -0.02032212
+v 0.10224536 0.03968256 -0.01639081
+v 0.10335831 0.00001140 -0.05056818
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+v 0.09081686 0.04119021 -0.05056803
+v 0.10905275 0.00001130 -0.02402605
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+v 0.09628079 0.03695382 -0.05056804
+v 0.09808529 0.03836055 -0.04254484
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+f 1 39 22
+f 1 22 9
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+f 48 53 49
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+
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_55.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3d6d419de708678286406e33284dd60a6cc5a34
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_55.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.09220587 0.04119019 -0.04710883
+v 0.07398497 0.04119019 -0.04710883
+v 0.09168709 0.04119020 -0.04885952
+v 0.08625459 0.04931724 -0.06388376
+v 0.08998882 0.05291013 -0.04910675
+v 0.09028247 0.05332186 -0.04710878
+v 0.05418325 0.04119032 -0.08079064
+v 0.04221218 0.07324232 -0.04710871
+v 0.08227076 0.04119030 -0.07575287
+v 0.08101296 0.04311177 -0.07958724
+v 0.08246652 0.04685175 -0.07499455
+v 0.08222671 0.04876830 -0.07411425
+v 0.07844843 0.06370368 -0.05923170
+v 0.07876165 0.06415463 -0.05736560
+v 0.07890358 0.06774754 -0.04917922
+v 0.07933916 0.06803672 -0.04710873
+v 0.08039140 0.04119032 -0.08079064
+v 0.04221218 0.05342493 -0.08079059
+v 0.04221218 0.09126091 -0.04710864
+v 0.08056759 0.04311178 -0.08079063
+v 0.07946152 0.04647434 -0.08079062
+v 0.07074504 0.05931186 -0.08079057
+v 0.07140575 0.06032650 -0.07857171
+v 0.07502742 0.06049312 -0.07127882
+v 0.07470441 0.06369880 -0.06663009
+v 0.06363875 0.07510503 -0.06704545
+v 0.06726530 0.07871262 -0.05193874
+v 0.07827224 0.06735541 -0.05164865
+v 0.06756385 0.07909494 -0.04995727
+v 0.06794069 0.07959980 -0.04710869
+v 0.04221218 0.08052145 -0.08079049
+v 0.05107547 0.09071682 -0.04710865
+v 0.05273948 0.09020706 -0.04919563
+v 0.05039030 0.08976102 -0.05128920
+v 0.04908845 0.08638870 -0.06367592
+v 0.04774256 0.08638870 -0.06367592
+v 0.04367063 0.08265366 -0.07488892
+v 0.04221218 0.08118807 -0.07885517
+v 0.05991919 0.07051221 -0.08079053
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+v 0.05317017 0.09047665 -0.04710865
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+v 0.05903335 0.07134549 -0.08079053
+v 0.04634283 0.07971267 -0.08079050
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+f 7 8 18
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+
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_56.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbdcd240694a639d1757b5effc69ff49a5dbc5a2
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_56.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
+v 0.03603076 -0.08314148 0.02682132
+v 0.06540629 -0.06175158 0.02682140
+v 0.03603076 -0.10296981 0.02682125
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+v 0.08649680 -0.06175158 0.02682140
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+v 0.03916296 -0.10277613 0.02682125
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+v 0.03603076 -0.07276347 0.07901318
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+v 0.03603076 -0.07267067 0.07969905
+v 0.05279843 -0.06175176 0.07741828
+v 0.05719043 -0.09468985 0.02682128
+v 0.05716573 -0.09463739 0.02783920
+v 0.03916296 -0.10270350 0.02783917
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+v 0.03857505 -0.10188848 0.04265626
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+v 0.08334977 -0.07204908 0.02682137
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+v 0.08454534 -0.06916400 0.02783930
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+v 0.05241802 -0.06175177 0.07969909
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+
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_57.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cc295d349577236656ff2b9328bc8f371e93619
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_57.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.00178257 -0.10961289 -0.01641076
+v -0.00001632 -0.10960009 -0.01641076
+v -0.02069468 -0.10675533 -0.01641075
+v -0.00177631 -0.10960649 -0.01661794
+v -0.00001632 -0.10960649 -0.01661794
+v -0.00001632 -0.09192035 -0.01641070
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+v -0.03200624 -0.10193621 -0.01641412
+v -0.03200624 -0.10192660 -0.01661791
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+v -0.00106856 -0.10898246 -0.02773100
+v -0.00140677 -0.10922246 -0.02402552
+v -0.00162286 -0.10944008 -0.02032003
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+v -0.03200624 -0.08554285 -0.01641067
+v -0.00001632 -0.08342435 -0.05110504
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+v -0.01764757 -0.10190408 -0.05110510
+v -0.00199239 -0.10329285 -0.05110511
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+
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_58.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08bf1cb2a223a02eaa7bb795df0d5f51cd57db50
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_58.obj
@@ -0,0 +1,535 @@
+# https://github.com/mikedh/trimesh
+v -0.03251560 0.08879357 0.07977944
+v -0.03577011 0.08735908 0.07977943
+v -0.03819707 0.09018123 0.08499857
+v -0.03251560 0.09301190 0.08638602
+v -0.03251560 0.07414215 0.07977938
+v -0.03962928 0.08551595 0.07977942
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+v -0.03541067 0.09248832 0.08737798
+v -0.04323767 0.08374092 0.07977942
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+v -0.03251560 0.09328432 0.08693063
+v -0.03251560 0.07237131 0.09822137
+v -0.06098146 0.05116038 0.09833476
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+v -0.04189183 0.09017696 0.08825971
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+v -0.03940637 0.09165401 0.09081418
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+v -0.03251560 0.07221807 0.10104489
+v -0.06098146 0.05084964 0.10192655
+v -0.06098146 0.07246929 0.07977938
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+v -0.05055754 0.07986310 0.07977940
+v -0.05280059 0.08259586 0.08510227
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+v -0.04407916 0.08943203 0.09081417
+v -0.04220948 0.09033019 0.09081417
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+v -0.03605433 0.09308423 0.09451943
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+v -0.03251560 0.09432292 0.09451944
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+v -0.06098146 0.05086240 0.10247764
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diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_59.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d53a4843a1398f58d8af02e87328acb720ea5557
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_59.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_6.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71fa971f7ae897e94f0890abd529618d0edeb54c
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_6.obj
@@ -0,0 +1,547 @@
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diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_60.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67807e8b5896ad7ef69955a5c964b197a7c97914
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_60.obj
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+
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_61.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1af953e2a37e0a1d77451a1fe91444aa8bc5fbf5
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_61.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.07449348 0.03185727 0.07969547
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+v 0.08096225 0.00001092 0.07969535
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+
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_62.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1427047d336baa35456418afb3c50d353a4a31bf
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_62.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.03316878 0.07395302 0.07978001
+v -0.00001318 0.08093957 0.07978004
+v 0.03316878 0.07395996 0.07970048
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+
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_63.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fa5f7bf79822bca9bfc6ae3974217591293ded0
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_63.obj
@@ -0,0 +1,805 @@
+# https://github.com/mikedh/trimesh
+v -0.06098474 0.05084977 0.10192426
+v -0.06098474 0.05116055 0.09833271
+v -0.06098474 0.05086368 0.10247923
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diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_64.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3eb9ac6f292c00e2ed401b9bb4e485d97278980b
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_64.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_65.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ade50170d6df66a5e333584def185d96d2e9c7f7
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_65.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_66.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..804ccd70d880bb7d1faf294f9193d96d8bd940a4
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_66.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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+v -0.07373291 -0.03344497 0.07977080
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+
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_67.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3a9cb7a1795324a242315fc78efafb5d9ef0c2a
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_67.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.08284113 -0.03318024 0.03914292
+v 0.10149099 -0.03318024 0.03914292
+v 0.08838854 -0.01216054 0.03914300
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+v 0.10173502 -0.03318023 0.03524384
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diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_68.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..989889f2314c0906b9ab513dc95d46beaa9757bb
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_68.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_69.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93db806c10207267f5ef2b51cecc6443909c59eb
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_69.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_7.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9a8e7a42460685e71357721ae5347fb4bf57ef7
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_7.obj
@@ -0,0 +1,589 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_70.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85fc5647a8b8f9b479204854450abfc53d4b1417
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_70.obj
@@ -0,0 +1,445 @@
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diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_71.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e73e3ce78841dd0e0f1e502184b04620ad2cb60
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_71.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_72.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99bb1b1f6e1556f6c4f350d23c84cf28c8355cd7
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_72.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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+f 1 2 6
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+f 1 5 2
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+
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_73.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e4171573c2222fede7b058fddf45a52913ddf16
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_73.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.10381334 -0.00000193 -0.04985235
+v -0.10146836 -0.00000189 -0.06008794
+v -0.10146836 -0.00052018 -0.06008794
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+v -0.08400934 -0.00000193 -0.04985235
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+v -0.07206008 -0.04270226 -0.04985251
+v -0.05702847 -0.04270216 -0.07699696
+v -0.06795639 -0.00000181 -0.08079539
+v -0.09392966 -0.00000182 -0.07829329
+v -0.09389302 -0.01549617 -0.07459472
+v -0.09385638 -0.03395817 -0.06355646
+v -0.09721353 -0.03547965 -0.04985248
+v -0.09392966 -0.00046159 -0.07829329
+v -0.10188515 -0.01952554 -0.04995541
+v -0.08984428 -0.04270226 -0.04985251
+v -0.05702847 -0.04270214 -0.08079555
+v -0.05702847 -0.03664568 -0.08079552
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+v -0.09182743 -0.00112198 -0.08079539
+v -0.09183660 -0.00174058 -0.08079540
+v -0.09049923 -0.01605623 -0.08079545
+v -0.08681231 -0.03110751 -0.08079550
+v -0.09006413 -0.03053909 -0.07444938
+v -0.09391592 -0.03752770 -0.05610471
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+v -0.09572961 -0.03807945 -0.04985249
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+v -0.08214070 -0.04270216 -0.07603368
+v -0.08105523 -0.04270215 -0.07958994
+f 1 2 3
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+f 1 20 11
+f 1 11 5
+f 1 5 13
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+f 18 25 26
+f 20 30 35
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+f 29 34 30
+f 30 34 36
+f 30 36 35
+f 32 34 33
+
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_74.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d5e0c84d6f642c30c84771a76fe22cc35ebb34f
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_74.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.06263007 0.04826403 -0.06232686
+v -0.08657334 0.04826403 -0.06232686
+v -0.07223301 0.04826394 -0.03794754
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+v -0.07882862 -0.00000188 -0.06232704
+v -0.08993523 0.04826398 -0.04867435
+v -0.09400195 0.03431246 -0.06232691
+v -0.09744499 0.03755345 -0.04827347
+v -0.09775257 0.03785581 -0.04625220
+v -0.09180199 0.04826394 -0.03794754
+v -0.10626620 -0.00000197 -0.03794772
+v -0.09967486 -0.00000188 -0.06232704
+v -0.08997794 0.04826398 -0.04847628
+v -0.09829508 0.03833298 -0.04254615
+v -0.09901274 0.03873454 -0.03794758
+v -0.09772266 0.01908999 -0.06232697
+v -0.10145191 0.01914665 -0.05285063
+v -0.10500176 0.01899070 -0.04120984
+v -0.10014902 0.03561634 -0.03794759
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+v -0.10586892 0.00151935 -0.04254628
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+v -0.10146473 -0.00000189 -0.06008384
+v -0.10146473 0.00065482 -0.06008384
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+v -0.09796615 0.01807421 -0.06232697
+v -0.10505729 0.00042800 -0.04874135
+v -0.10540330 0.00097132 -0.04625234
+v -0.10525806 0.01934503 -0.03884255
+v -0.10534350 0.01945369 -0.03794765
+v -0.10625765 0.00210518 -0.03794771
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+v -0.10505729 -0.00000193 -0.04874135
+v -0.09811140 0.01691670 -0.06232698
+v -0.10518544 -0.00000193 -0.04782259
+f 1 2 6
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+f 24 37 31
+f 24 31 25
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+f 31 39 32
+f 32 39 36
+
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_75.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..926e0c3095a3be4fb1114fdd1c68a409349a0b7d
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_75.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
+v -0.03566423 0.10278247 0.03139616
+v -0.03566423 0.10277763 0.03154771
+v -0.03553884 0.10273894 0.03139616
+v -0.03914444 0.10233266 0.03139616
+v -0.03928934 0.10230848 0.03154771
+v -0.03908036 0.10219723 0.03525104
+v -0.03887416 0.10206663 0.03895436
+v -0.03862339 0.10190700 0.04265769
+v -0.03833639 0.10172320 0.04636102
+v -0.03566423 0.10256481 0.03525104
+v -0.03251560 0.10138468 0.03467327
+v -0.03251560 0.10156364 0.03154770
+v -0.03251560 0.10156848 0.03143878
+v -0.03251560 0.10156848 0.03139615
+v -0.03930884 0.10230364 0.03139616
+v -0.05721146 0.09458927 0.03139613
+v -0.05720589 0.09458443 0.03154768
+v -0.05703592 0.09439579 0.03525101
+v -0.03803824 0.10150070 0.05006909
+v -0.05681301 0.09416362 0.03895434
+v -0.05655945 0.09392177 0.04265766
+v -0.03566423 0.10231813 0.03895437
+v -0.03384192 0.10109927 0.04796169
+v -0.03251560 0.10119604 0.03786514
+v -0.03251560 0.10135082 0.03525103
+v -0.03251560 0.08402129 0.03139609
+v -0.05881085 0.09187593 0.03139612
+v -0.05887216 0.09175501 0.03154767
+v -0.05858794 0.09175500 0.03525100
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+v -0.03776518 0.10129272 0.05307153
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+v -0.06098146 0.08581562 0.04669247
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+v -0.06098146 0.08199945 0.07146025
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+v -0.05657059 0.09026041 0.06117430
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+v -0.03566423 0.09987557 0.06117434
+v -0.03566423 0.10054786 0.05747101
+v -0.05440834 0.09048771 0.06466453
+v -0.03599581 0.10150070 0.05006909
+v -0.03251560 0.09959505 0.06117434
+v -0.03552491 0.10096382 0.05408971
+v -0.03531872 0.10163131 0.04657886
+v -0.03251560 0.07415446 0.07970037
+v -0.06098146 0.05338610 0.07970030
+v -0.06098146 0.08746979 0.03139610
+v -0.06098146 0.08743110 0.03180811
+v -0.05639505 0.08628469 0.07060311
+v -0.06098146 0.08086284 0.07270101
+v -0.05568452 0.08949137 0.06575374
+v -0.03768994 0.09748626 0.06696138
+v -0.03566423 0.09789253 0.06767648
+v -0.03251560 0.09797959 0.06865203
+v -0.03251560 0.09904365 0.06488240
+v -0.05319069 0.09019750 0.06737336
+v -0.03251560 0.07414478 0.07977614
+v -0.06098146 0.05337642 0.07977607
+v -0.05903934 0.08164637 0.07344452
+v -0.05654551 0.08261369 0.07430168
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+v -0.05173897 0.08951069 0.06984540
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+v -0.06063316 0.07915068 0.07446268
+v -0.04157697 0.09378625 0.07065048
+v -0.03566423 0.09685265 0.06953287
+v -0.03318712 0.09723475 0.07023376
+v -0.03251560 0.09764102 0.06948552
+v -0.03251560 0.08879001 0.07977620
+v -0.06098146 0.07247132 0.07977614
+v -0.05184486 0.08578167 0.07383760
+v -0.05436655 0.08509487 0.07311302
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+v -0.04924514 0.09008142 0.07072151
+v -0.03940637 0.09426991 0.07115722
+v -0.04441353 0.08959291 0.07388497
+v -0.03251560 0.09616102 0.07161185
+v -0.03566423 0.09498089 0.07188652
+v -0.03940637 0.09249970 0.07300887
+v -0.03267442 0.08872230 0.07977620
+v -0.04716370 0.08168505 0.07977617
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+v -0.04688506 0.08895931 0.07323618
+v -0.03962928 0.08551563 0.07977618
+v -0.03577011 0.08735838 0.07977619
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+
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_76.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22b68727b815e6e85158e11c604a326426288357
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_76.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.05418165 0.04119032 -0.08079064
+v 0.07263862 0.04119021 -0.05057098
+v 0.08038920 0.04119032 -0.08079064
+v 0.06778609 0.00001151 -0.08079079
+v 0.08384567 0.00001140 -0.05057113
+v 0.09081638 0.04119021 -0.05057098
+v 0.08227149 0.04119030 -0.07575255
+v 0.09513937 0.03828802 -0.05057099
+v 0.09363740 0.03765117 -0.05601733
+v 0.09362777 0.03409602 -0.06351679
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diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_77.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50c85b17c02c208eb9121c98bea68a2aa5495426
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_77.obj
@@ -0,0 +1,253 @@
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diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_78.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17ec8ddbba424ad970783d617a81244f6d876687
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_78.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_79.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..544fd839317022d8c12c231c1695d315ffb498e9
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_79.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v 0.05412543 0.09466020 0.03913148
+v 0.05658400 0.09419954 0.03913148
+v 0.04810502 0.09441026 0.03913148
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+v 0.06177556 0.08546665 0.03913144
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+v 0.03316879 0.07396476 0.07970033
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+v 0.04126414 0.09375836 0.07061306
+v 0.04922229 0.09014662 0.07080791
+v 0.05048238 0.08805404 0.07236687
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+
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_8.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b1a6f081a66ab601811affff95c8e9fb530007e
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_8.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.00148305 0.10965337 -0.01638722
+v 0.00147479 0.10964595 -0.01661581
+v -0.00001318 0.10964595 -0.01661581
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+v 0.02045884 0.10677683 -0.01638723
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+v -0.00001318 0.10949378 -0.02032096
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+
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_80.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2167dc12e332c94ae75a8430b21c103665ac0f5a
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_80.obj
@@ -0,0 +1,547 @@
+# https://github.com/mikedh/trimesh
+v 0.03167698 -0.08787031 0.11296901
+v 0.01671747 -0.09161524 0.11292669
+v 0.02045382 -0.09161524 0.11293645
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+v 0.03602722 -0.08352631 0.11263710
+v -0.00000966 -0.08787315 0.11218152
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+v -0.00000966 -0.08589422 0.11186261
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+v -0.00000966 -0.09841800 0.11070410
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+v -0.00000966 -0.09893189 0.10933412
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diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_81.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54f09643b5648cff18859989445d7cc80bde6f3d
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_81.obj
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+
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_82.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdc8edcd483ab25a059fbc0ff48d1258d146f967
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_82.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.08008701 -0.01215863 0.07988925
+v 0.08094425 0.00001092 0.07988929
+v 0.08010410 -0.01215863 0.07969640
+v 0.09373154 -0.01215863 0.07988925
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+v 0.08057970 -0.01215862 0.07599567
+v 0.09424132 -0.00916151 0.07988926
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+v 0.09469984 -0.00554257 0.07988927
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+v 0.10889972 -0.00098241 0.03895164
+v 0.10870891 0.00001105 0.04265696
+v 0.10859214 0.00001105 0.04491597
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+
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_83.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e890eea3e718ec33fa7fccd174aa6a23f6582dbe
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_83.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.07391538 -0.03318039 0.07962513
+v 0.08834498 -0.03318039 0.07962513
+v 0.08011486 -0.01216069 0.07962521
+v 0.08057982 -0.01216068 0.07599197
+v 0.07443095 -0.03318038 0.07611867
+v 0.08886371 -0.03186756 0.07962513
+v 0.09719504 -0.03318036 0.07050439
+v 0.09388655 -0.01216069 0.07962521
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+v 0.09751135 -0.03318036 0.06977536
+v 0.10094952 -0.01881535 0.07051236
+v 0.09244422 -0.02032576 0.07962518
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+
diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_84.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0573b7e8157a7463cbd3206bd1ba0b73e7fddad0
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_84.obj
@@ -0,0 +1,523 @@
+# https://github.com/mikedh/trimesh
+v 0.08779373 -0.03318051 0.11289407
+v 0.09153711 -0.02799193 0.11272108
+v 0.09153711 -0.02425239 0.11293000
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+v 0.09798236 0.00000755 0.11199978
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diff --git a/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_9.obj b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a9d1e1add5f932978785ceb0c2cc9b11e0a1614
--- /dev/null
+++ b/dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/mjcf/mesh/black_jar_collision_9.obj
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