diff --git a/.gitattributes b/.gitattributes
index 17151dd93a19f4dc130aedf0ba80e88f88355c3a..24012760010ce5a514dac82c754a65a63c143e4c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4530,5 +4530,5 @@ dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/6f7beae1fb2e5
 dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/6cb06041371650eb93688f2862e66490.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mesh/utensil_holder.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mesh/utensil_holder_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/mesh/spice_jar_030.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/spice_jar_030.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mesh/spice_jar_003.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/spice_jar_003.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mesh/material.mtl b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f765c6c08160a052b0b887c8a9b84ec432662adb
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl spice_jar_003_geometry_Looks_material_0
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+map_Kd spice_jar_003_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mesh/material_0.png b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..689d9c15060b5064068821f5b4538efdb99cba82
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mesh/spice_jar_003.glb b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mesh/spice_jar_003.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mesh/spice_jar_003.glb
@@ -0,0 +1,3 @@
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diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mesh/spice_jar_003.mtl b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mesh/spice_jar_003.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4a6f2ef894e9ba67c0056715ee1318190779113c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mesh/spice_jar_003.mtl
@@ -0,0 +1,6 @@
+newmtl spice_jar_003_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mesh/spice_jar_003.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mesh/spice_jar_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eec79adc777426a87ee96e4a34f94e5bab0dcdcc
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mesh/spice_jar_003.obj
@@ -0,0 +1,113150 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mesh/spice_jar_003_collision.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mesh/spice_jar_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20605886b0ad2f7e9606ba8f2dc89a6b57b77aff
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mesh/spice_jar_003_collision.obj
@@ -0,0 +1,20515 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mesh/spice_jar_003_geometry_Looks_material_0.png b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mesh/spice_jar_003_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003.obj
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+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003.obj
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diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9034b8dcd6d54473193ae78e067a7c7106dfa57b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision.obj
@@ -0,0 +1,20515 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_0.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9b7dd466c7bc09a01a45053fdc0d6307f99c310
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_0.obj
@@ -0,0 +1,406 @@
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diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_1.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f613658c890b80c4ca0973c0d45af08116ed3250
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_1.obj
@@ -0,0 +1,454 @@
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diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_10.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8e965050eb30a77291a8a080e8a2442dbc4b583
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_10.obj
@@ -0,0 +1,838 @@
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diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_11.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37698e108d01d41d5baf7762a6439c5c8dd172fd
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_11.obj
@@ -0,0 +1,361 @@
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diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_12.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9526e322826e556ac4b3092e1270857f1ac8b57
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_12.obj
@@ -0,0 +1,472 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_13.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b93aa253a6ff5f06bedecc1b394bae0828f440cc
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_13.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_14.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b78e4bbae65d007719a38b1c31513a71bbfb59c4
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_14.obj
@@ -0,0 +1,439 @@
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+
diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_15.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30abf94fdeb2033cd967848c6e36fbca0d456821
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_15.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.00344787 0.02358658 -0.03847739
+v -0.00344787 0.01476441 -0.03847743
+v -0.00344787 0.02358661 -0.04492371
+v -0.01444218 0.02358658 -0.03847739
+v -0.00351890 0.01476875 -0.03847743
+v -0.01444218 0.01471404 -0.03979690
+v -0.00344787 0.01471403 -0.03858837
+v -0.00344787 0.02335818 -0.04509208
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+v -0.01444218 0.02358660 -0.04490797
+v -0.01444218 0.02206222 -0.03847740
+v -0.00393753 0.01479568 -0.03847743
+v -0.00446163 0.01491901 -0.03847743
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+
diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_16.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..310a55f5461bb8f12286729764fb9d1f3d8ba816
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_16.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.00344787 -0.00400945 -0.00850187
+v -0.00344787 -0.00396767 -0.00505176
+v -0.00361705 -0.00385371 -0.00850187
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+v -0.00429014 0.00256291 -0.02758024
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+
diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_17.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffe053d058d72ad84a414e0a8a18f62d6139bbd0
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_17.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
+v -0.00344787 0.00375057 -0.02758352
+v -0.00344787 0.00886504 -0.03177804
+v -0.00351148 0.00881656 -0.03174908
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diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_18.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc98b50935086847322178d7ee90bb39f941f6f3
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_18.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_19.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bba8cd7a6462bd999c90e4aaed5ade2e8754764e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_19.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_2.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82113242be9d8cef563b659d1285e12f3fa68141
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_2.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_20.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9005443fe34c415d26edd4d234a18c6179749b04
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_20.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_21.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25da553ab0b391bef5a14befe07986791dddfd19
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_21.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_22.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d7b67e62cf125726efdd716c7d9fd746d078ec3
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_22.obj
@@ -0,0 +1,178 @@
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diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_23.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdfb2d78b176bbc7f436306f9a17d580d23ecc25
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_23.obj
@@ -0,0 +1,409 @@
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diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_24.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23acc97d92bb2b3da3f06b85f48f2a046089dac4
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_24.obj
@@ -0,0 +1,319 @@
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diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_25.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd652238bead8f9aa3c5868121d35f72e1229f96
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_25.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_26.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cecd681b28f65d6033faa67dcd0c5ecd85a5e20
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_26.obj
@@ -0,0 +1,601 @@
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+
diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_27.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4dad94e77ed739ec6475f1881d1391cec47d1755
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_27.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.02659953 0.00103600 0.03200686
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+
diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_28.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..653636de3f99373c350b860cffab231007b6408e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_28.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.02193728 -0.02404222 0.01153295
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+v 0.02124453 -0.02371405 0.01153295
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+
diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_29.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f21c567d6463e30b13ea0cb8698a108a2c3b767d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_29.obj
@@ -0,0 +1,418 @@
+# https://github.com/mikedh/trimesh
+v -0.02256717 0.01963058 -0.00397780
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diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_3.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1de90f0504dbe413cde940ec4df623f34cfd2090
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_3.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_30.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08188b70842deb59b1525606742abbbb35625968
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_30.obj
@@ -0,0 +1,481 @@
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diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_31.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6ca98eb4ff3ab6a531b46a1bd813031fdae67d4
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_31.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_32.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73c2bd9f44cf4f911fc8f3e6432b19c23818acf4
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_32.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_33.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ab02fdf90cebdff176ed6740f37b20d3d91dd5f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_33.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+v 0.01984784 0.02432058 0.01153313
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+
diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_34.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0567b3c65cf13916f22fc86e4c2595dacfe9a0d1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_34.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.00683999 0.02248915 -0.03027167
+v 0.00683999 0.02248915 -0.03045313
+v 0.00683897 0.02248915 -0.02919161
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+
diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_35.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6dbf4f14c8f3278079fbaeca0780ced74488a557
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_35.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.02038333 0.01963438 -0.03896484
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diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_36.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb9857a6fdc85e3aa95c778deab6508483ec0191
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_36.obj
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diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_37.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88eb556bbb168cf987f101d263968b3f6450b0a4
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_37.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_38.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9abcaa50005a9289cf3703230ce6c841efe8877
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_38.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_39.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c82dd21dcf5c06a06a4762a66fc0d7ac4e3b5ec2
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_39.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_4.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bde06a8ec08b9b463445745d133a1d8306ddc185
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_4.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_40.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17ee3baba5d7122699e9f3e8c368efc57504a9d1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_40.obj
@@ -0,0 +1,427 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_41.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80aef387c552d387712abc4a10537f7c4c2052ce
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_41.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_42.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23ef5afa1ea6f57cbba879d59ee402c8e2c6079c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_42.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_43.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f4f5a020110c4b5208f39b176fe5872c59daca7
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_43.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_44.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a0babde1de25ed1af3b13ad78a363603476d7b1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_44.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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+v -0.00393749 0.01479555 -0.03847664
+v -0.00344787 0.02149192 -0.03847661
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+
diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_45.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e48e184d5c502ec1dfcb0e63605dd0e6ac568932
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_45.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_46.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d31e2ff4ed7ff222b93f606128eee8c3c9603e16
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_46.obj
@@ -0,0 +1,871 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_47.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..338a7e628df10d773ea4b4b21458198c3d366f41
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_47.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+v -0.01444218 0.02358656 -0.03339973
+v -0.01444218 0.02358658 -0.03847610
+v -0.00903560 0.02207036 -0.03847611
+v -0.00901488 0.02206604 -0.03847263
+v -0.00901488 0.02358657 -0.03437873
+v -0.00901488 0.02358658 -0.03847610
+v -0.00901488 0.02355421 -0.03847610
+f 1 2 3
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+f 1 7 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 4 8 5
+f 5 8 7
+f 5 7 6
+
diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_48.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23d312e42ccc9c8b96ffbd25c212223d36357ce7
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_48.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00344787 0.02235466 -0.03045313
+v -0.00344787 0.02235466 -0.02330607
+v -0.00344787 0.02335466 -0.03045313
+v -0.00344787 0.02335466 -0.02330607
+v 0.00775762 0.02235466 -0.03045313
+v 0.00775762 0.02235466 -0.02330607
+v 0.00775762 0.02335466 -0.03045313
+v 0.00775762 0.02335466 -0.02330607
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_49.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9fa8b7b9e5a6321fe0400741a8c1801fbd4fed3
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_49.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.00344787 0.02358652 -0.02246012
+v -0.00392523 0.02358652 -0.02247109
+v -0.00344787 0.02149253 -0.02521943
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+f 17 21 19
+f 18 19 20
+f 19 21 20
+
diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_5.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d53652beb6ea003732d3ccf1c9cbd0b3137da609
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_5.obj
@@ -0,0 +1,481 @@
+# https://github.com/mikedh/trimesh
+v 0.01960012 0.02655993 -0.03624797
+v 0.01982718 0.02652568 -0.03624797
+v 0.01985435 0.02644004 -0.03781388
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+
diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_50.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0663f67aa887f7788e9ea0dc6f4d5d7b39e7fa91
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_50.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.02644879 -0.00412148 0.01153302
+v -0.02626973 -0.00653858 0.00803788
+v -0.02644827 -0.00583598 0.01153302
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+v -0.02626399 0.01403931 0.00803795
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+
diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_51.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ffff08a8d6987afc663df7f5afc62b3d941d577
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_51.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.01908243 0.02271724 -0.03045312
+v 0.01908243 0.02271724 -0.02912907
+v 0.01908243 0.02371724 -0.03045312
+v 0.01908243 0.02371724 -0.02912907
+v 0.02008243 0.02271724 -0.03045312
+v 0.02008243 0.02271724 -0.02912907
+v 0.02008243 0.02371724 -0.03045312
+v 0.02008243 0.02371724 -0.02912907
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_52.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32e6d431499f086ef0a73b924614ff01989d2195
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_52.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.01911624 -0.01751830 0.01358190
+v 0.02028878 -0.01751830 0.01293610
+v 0.02745914 -0.01751830 0.01358190
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+v 0.02705542 0.01025113 0.01153308
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+v 0.02768659 0.00959392 0.01358200
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+
diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_53.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a7701f18d964b9e6480f0f4e637c0ed8b681b2b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_53.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.00173032 0.02798119 0.01358206
+v -0.00167070 0.02798119 0.01358206
+v 0.00512754 0.02797939 0.01358206
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+v -0.00393678 0.02797849 0.01358206
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+v 0.00965589 0.02730065 0.01153314
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+v 0.01730344 0.02776666 0.01358206
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+
diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_54.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1e4134b7ce6d78989d34313345069fe28de9c6e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_54.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.02745914 -0.01751904 0.01358190
+v 0.02742611 -0.01784513 0.01358189
+v 0.02678902 -0.01784512 0.01153297
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+
diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_55.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4d2f6cbc99b4618114ff7fee1ef4ea53af474db
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_55.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.00767401 -0.02679599 0.02364846
+v -0.00766618 -0.02679599 0.02425903
+v -0.00655521 -0.02679599 0.02364846
+v -0.00669916 -0.02944707 0.02364845
+v -0.00663501 -0.03091301 0.02630157
+v -0.00668665 -0.03098102 0.02770942
+v -0.00747841 -0.02679600 0.02770943
+v -0.00692605 -0.02985101 0.02770942
+v 0.00831156 -0.02679599 0.02365130
+v 0.00830530 -0.02679829 0.02364846
+v -0.00610456 -0.02999024 0.02364845
+v -0.00644724 -0.03068323 0.02515215
+v -0.00578378 -0.03111611 0.02583087
+v -0.00563513 -0.03147502 0.02770941
+v -0.00660528 -0.03086752 0.02882193
+v -0.00740017 -0.02679601 0.02886170
+v 0.00829747 -0.02679599 0.02426755
+v 0.00759490 -0.02985101 0.02770942
+v 0.00733358 -0.03100721 0.02770942
+v 0.00727099 -0.03093001 0.02629447
+v 0.00734297 -0.02946775 0.02364845
+v -0.00573058 -0.03023518 0.02364845
+v -0.00531435 -0.03083487 0.02484331
+v -0.00390138 -0.03050171 0.02364845
+v 0.00391928 -0.03051917 0.02364845
+v 0.00640881 -0.03112438 0.02582590
+v 0.00625859 -0.03149019 0.02770941
+v -0.00563513 -0.03106053 0.02909811
+v -0.00650826 -0.02906108 0.03031995
+v -0.00666630 -0.02971959 0.02941120
+v -0.00734541 -0.02679601 0.02935512
+v -0.00563513 -0.03018281 0.02996000
+v 0.00820672 -0.02679600 0.02614468
+v 0.00812691 -0.02679600 0.02770943
+v 0.00799704 -0.02679601 0.02938352
+v 0.00724596 -0.03088544 0.02884536
+v 0.00707696 -0.03068966 0.02514505
+v 0.00635561 -0.03025861 0.02364845
+v 0.00452641 -0.03050493 0.02364845
+v 0.00594408 -0.03083304 0.02484118
+v 0.00575005 -0.03041118 0.02364845
+v 0.00625859 -0.03106420 0.02910521
+v 0.00625859 -0.03020441 0.02996710
+v -0.00563513 -0.02932531 0.03042360
+v -0.00563513 -0.02679601 0.03082403
+v -0.00583385 -0.02679601 0.03077291
+v -0.00678992 -0.02679601 0.03048680
+v -0.00393580 -0.02934645 0.03044348
+v 0.00792037 -0.02679601 0.02964905
+v 0.00731950 -0.02974579 0.02942611
+v 0.00714738 -0.02910427 0.03033628
+v 0.00625859 -0.02934691 0.03043212
+v -0.00393580 -0.02679601 0.03090071
+v -0.00430821 -0.02679601 0.03089006
+v 0.00455927 -0.02679601 0.03090142
+v 0.00743060 -0.02679601 0.03050029
+v 0.00625859 -0.02679601 0.03083610
+f 1 2 7
+f 1 7 16
+f 1 16 31
+f 1 31 47
+f 1 47 46
+f 1 46 45
+f 1 45 54
+f 1 54 53
+f 1 53 55
+f 1 55 57
+f 1 57 56
+f 1 56 49
+f 1 49 35
+f 1 35 34
+f 1 34 33
+f 1 33 17
+f 1 17 9
+f 1 9 3
+f 1 3 10
+f 1 10 21
+f 1 21 38
+f 1 38 41
+f 1 41 39
+f 1 39 25
+f 1 25 24
+f 1 24 22
+f 1 22 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
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+f 3 9 10
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+f 48 52 55
+f 48 55 53
+f 49 56 51
+f 49 51 50
+f 51 57 52
+f 51 56 57
+f 52 57 55
+
diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_56.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fbb3d05c4478a884bb3bef868df2324fe5f02fe
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_56.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.00455765 -0.01713431 0.01358190
+v 0.00625806 -0.01724665 0.01358190
+v 0.00455765 -0.01773392 0.01153297
+v 0.00285993 -0.01773261 0.01153297
+v 0.00115952 -0.01773131 0.01153297
+v 0.00092044 -0.01713431 0.01358190
+v 0.00625806 -0.01785280 0.01153297
+v 0.01138885 -0.01866667 0.01358189
+v -0.00054089 -0.01773131 0.01153297
+v -0.00077997 -0.01713561 0.01358190
+v 0.00667981 -0.01800303 0.01153297
+v 0.01138885 -0.02497512 0.01358187
+v 0.01138885 -0.01918661 0.01326902
+v 0.00751793 -0.01833746 0.01153297
+v -0.00223862 -0.01773261 0.01153297
+v -0.00247501 -0.01713692 0.01358190
+v 0.01138885 -0.02489543 0.01350626
+v 0.00733526 -0.02930834 0.01358185
+v 0.00733526 -0.02930964 0.01219137
+v 0.00733526 -0.02930964 0.01153293
+v 0.01138885 -0.01920229 0.01326240
+v 0.01138885 -0.02004489 0.01291302
+v 0.00799877 -0.01910430 0.01153297
+v -0.00328626 -0.01773392 0.01153297
+v -0.00393634 -0.01713823 0.01358190
+v 0.01138885 -0.02487714 0.01349021
+v 0.00625806 -0.03003076 0.01358185
+v 0.00625806 -0.03003467 0.01153293
+v 0.00692426 -0.02958659 0.01153293
+v 0.00849841 -0.02474780 0.01153295
+v 0.01138885 -0.02301035 0.01284623
+v 0.01138885 -0.02402017 0.01298841
+v 0.01138885 -0.02127549 0.01276821
+v 0.00814920 -0.01953540 0.01153297
+v -0.00393634 -0.01773523 0.01153297
+v -0.00415930 -0.01714737 0.01358190
+v 0.00455765 -0.03045795 0.01358185
+v 0.00560799 -0.03019927 0.01153293
+v 0.00853602 -0.02299074 0.01153296
+v 0.01138885 -0.02299075 0.01284362
+v 0.00839902 -0.02127548 0.01153296
+v -0.00498667 -0.01780446 0.01153297
+v -0.00563406 -0.01725319 0.01358190
+v 0.00391026 -0.03046969 0.01153293
+v 0.00455765 -0.03046055 0.01153293
+v 0.00285993 -0.03047623 0.01358185
+v -0.00563406 -0.01786456 0.01153297
+v -0.01605411 -0.01852297 0.01358189
+v 0.00285993 -0.03047753 0.01153293
+v 0.00115952 -0.03047754 0.01358185
+v -0.00688049 -0.01834791 0.01153297
+v -0.01605411 -0.01910953 0.01321246
+v -0.01605411 -0.02521941 0.01358187
+v -0.00086862 -0.03047885 0.01358185
+v -0.00223862 -0.03047753 0.01153293
+v -0.00750908 -0.01953540 0.01153297
+v -0.01605411 -0.02127549 0.01270162
+v -0.01605411 -0.01996651 0.01289878
+v -0.00563406 -0.03000071 0.01219137
+v -0.00563406 -0.02999941 0.01358185
+v -0.01605411 -0.02510706 0.01343827
+v -0.00563406 -0.03000071 0.01153293
+v -0.00223862 -0.03047623 0.01358185
+v -0.00256634 -0.03047231 0.01358185
+v -0.00393634 -0.03045402 0.01153293
+v -0.00761385 -0.02019903 0.01153297
+v -0.01605411 -0.02276736 0.01269781
+v -0.00781263 -0.02158640 0.01153296
+v -0.00789859 -0.02299074 0.01153296
+v -0.00790665 -0.02317494 0.01153295
+v -0.00426406 -0.03036258 0.01358185
+v -0.01605411 -0.02499602 0.01335243
+v -0.00668977 -0.02928351 0.01153293
+v -0.00393634 -0.03044880 0.01358185
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+v -0.00788785 -0.02479222 0.01153295
+v -0.01605411 -0.02425009 0.01290057
+v -0.00773741 -0.02540229 0.01153295
+v -0.01605411 -0.02408418 0.01283519
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+f 1 16 25
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+f 73 75 78
+f 75 76 78
+
diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_57.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63c2534e7ec87712b09b9b8035275f4677e6c750
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_57.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.02707504 0.00028748 0.01358196
+v -0.02644691 0.00028749 0.01153304
+v -0.01938305 0.00028748 0.01358196
+v -0.02707418 0.00368691 0.01358197
+v -0.02644691 0.00616981 0.01153306
+v -0.02246761 0.00028749 0.01153304
+v -0.01974974 0.00028748 0.01325485
+v -0.01826052 0.01975229 0.01358203
+v -0.02707331 0.00540188 0.01358198
+v -0.02644519 0.00959973 0.01153308
+v -0.02002584 0.00028748 0.01300956
+v -0.02227779 0.01975230 0.01153311
+v -0.01943740 0.01975229 0.01294926
+v -0.02680929 0.01975229 0.01358203
+v -0.02707245 0.00711303 0.01358199
+v -0.02644432 0.01065729 0.01153308
+v -0.02617857 0.01975230 0.01153311
+v -0.02623121 0.01923400 0.01153311
+v -0.02696891 0.01817262 0.01358203
+v -0.02707072 0.00882608 0.01358199
+v -0.02706986 0.00959972 0.01358200
+v -0.02706641 0.01224457 0.01358200
+v -0.02644346 0.01131278 0.01153308
+v -0.02633820 0.01817263 0.01153311
+v -0.02636667 0.01751903 0.01153310
+v -0.02640981 0.01645767 0.01153310
+v -0.02703794 0.01645766 0.01358202
+v -0.02706469 0.01302773 0.01358201
+v -0.02644087 0.01302774 0.01153309
+v -0.02642016 0.01580407 0.01153310
+v -0.02643397 0.01474270 0.01153309
+v -0.02704829 0.01563828 0.01358202
+v -0.02706210 0.01395000 0.01358201
+v -0.02643742 0.01408721 0.01153309
+v -0.02705865 0.01474269 0.01358201
+f 1 2 6
+f 1 6 11
+f 1 11 7
+f 1 7 3
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+f 1 8 14
+f 1 14 19
+f 1 19 27
+f 1 27 32
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+f 27 31 32
+f 28 33 29
+f 29 33 34
+f 31 34 35
+f 31 35 32
+f 33 35 34
+
diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_58.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f88edaf8d59029f67f41750704132dcf1a4cfff8
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_58.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.01314216 0.00103600 0.03200686
+v -0.01413507 0.00103600 0.03281063
+v -0.01004203 -0.00778633 0.03200683
+v -0.02594111 0.00103600 0.03200686
+v -0.01243560 -0.00778633 0.03329728
+v -0.01079838 -0.00778633 0.03243275
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+v -0.02593800 -0.00778633 0.03200683
+v -0.02594111 -0.00471285 0.03200684
+v -0.02565319 0.00103600 0.03245267
+v -0.01583299 0.00103600 0.03354629
+v -0.01413507 -0.00755317 0.03358557
+v -0.01413507 -0.00778633 0.03358463
+v -0.02576525 -0.00778633 0.03227569
+v -0.02593955 -0.00726128 0.03200683
+v -0.02565319 -0.00412303 0.03245171
+v -0.02565319 0.00102218 0.03245267
+v -0.02432723 0.00103600 0.03321260
+v -0.01583299 -0.00240882 0.03359091
+v -0.01752001 0.00103600 0.03356743
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+v -0.02092985 -0.00778633 0.03355816
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+v -0.02432723 0.00102218 0.03321260
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+v -0.02262932 -0.00778633 0.03354861
+v -0.02432879 -0.00778633 0.03321022
+v -0.02432723 -0.00412303 0.03321164
+f 1 2 3
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+f 1 9 4
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+
diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_59.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0963525eb91e245d50d42dd040726f004740a06c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_59.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_6.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb14188de153cf29318553d01044ea1d6658da64
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_6.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.00116102 -0.00696638 -0.03045324
+v 0.00052370 -0.00696092 -0.03045324
+v 0.00285947 -0.00644619 -0.03045323
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+v -0.00053744 -0.00550559 -0.00397751
+v 0.00488403 -0.00524335 -0.03045323
+v 0.00396310 -0.00423993 -0.00397751
+v -0.00229751 -0.00639295 -0.03045323
+v -0.00175472 -0.00515470 -0.00397751
+v 0.00568174 -0.00445692 -0.03045323
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+v -0.00344787 -0.00385901 -0.00397750
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+
diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_60.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16d19a2f87991b55c30b49ef678638d38600daad
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_60.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.02707577 -0.00583957 0.01358194
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+v -0.02644679 -0.00927011 0.01153301
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+v -0.01605411 -0.01852062 0.01358189
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+
diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_61.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42339f109e88a60022fae8c3f5a5533651b7ac53
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_61.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
+v 0.02657632 -0.00778799 0.03200667
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diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_62.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5e318f6059a3759441167b988ea8c46d97aaec0
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_62.obj
@@ -0,0 +1,310 @@
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diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_63.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51c1de388359dd338058f0a604ef33e5c370d87b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_63.obj
@@ -0,0 +1,799 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_64.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ce266b47ab9290d8741644a7c6cb2d30285827f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_64.obj
@@ -0,0 +1,1591 @@
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diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_65.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4ea5960debda2746bec0bc816fdfd604fd4aa16
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_65.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_66.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a02ccc113545ed8a13d1fbd3970bc162fa5f3bf0
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_66.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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+v -0.01079865 -0.00778799 0.03243261
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diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_67.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a5c75a2b2385b4bd3e2df01ef5fdfe36cf13988
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_67.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.02658706 0.00841245 0.03200688
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diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_7.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5f555b11fb3050c5dd269cc86afd9f33c2c7f65
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_7.obj
@@ -0,0 +1,196 @@
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diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_8.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61ecdbaffae56cb55fbdf66aed73132a0ddacf5b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_8.obj
@@ -0,0 +1,619 @@
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diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_9.obj b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b44bb8ffa2c901c99575b7ab9401c4a96f1d4a64
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/mesh/spice_jar_003_collision_9.obj
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diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/spice_jar_003.xml b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/spice_jar_003.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6c2d0fec3d41ade6638627c9446cf372d04af699
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/mjcf/spice_jar_003.xml
@@ -0,0 +1,150 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="spice_jar_003">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/spice_jar_003.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/spice_jar_003_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/spice_jar_003_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/spice_jar_003_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/spice_jar_003_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/spice_jar_003_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/spice_jar_003_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/spice_jar_003_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_8" file="mesh/spice_jar_003_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_19" file="mesh/spice_jar_003_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_22" file="mesh/spice_jar_003_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_24" file="mesh/spice_jar_003_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/spice_jar_003_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/spice_jar_003_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_28" file="mesh/spice_jar_003_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_32" file="mesh/spice_jar_003_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_56" file="mesh/spice_jar_003_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_60" file="mesh/spice_jar_003_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_62" file="mesh/spice_jar_003_collision_62.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_63" file="mesh/spice_jar_003_collision_63.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_64" file="mesh/spice_jar_003_collision_64.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_67" file="mesh/spice_jar_003_collision_67.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="spice_jar_003">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
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+      <geom type="mesh" mesh="collision_mesh_0_67" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/spice_jar_003.urdf b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/spice_jar_003.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b02bcf491761a7bf2a071a2b0a5e9aec6d02a937
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/spice_jar_003.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="spice_jar_003">
+   <link name="spice_jar_003">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/spice_jar_003.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/spice_jar_003_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>6accc2bd88c258e79ce876ae76b18ff2</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>utensils</super_category>
+         <category>spice_jar</category>
+         <name>pump spice jar</name>
+         <color>gray</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>gray pump spice jar with spring mechanism</description>
+         <min_height>0.1048</min_height>
+         <max_height>0.1048</max_height>
+         <real_height>0.1048</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428014346</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_container,is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>13</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/spice_jar_003.usd b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/spice_jar_003.usd
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+++ b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/spice_jar_003.usd
@@ -0,0 +1,3 @@
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+size 4904122
diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/textures/material_0.png b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/textures/material_0.png
new file mode 100644
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diff --git a/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/video.mp4 b/dataset/kitchen_supplies/utensils/6accc2bd88c258e79ce876ae76b18ff2/video.mp4
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+size 205776