diff --git a/.gitattributes b/.gitattributes
index 011b00dc5acdf6d51035da3cbeb062694aaf20f2..2129ecf020572a39ef830b832214acf69f75b919 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4788,9 +4788,6 @@ dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_
 dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/bc557e92e8c25eeaa14b703b31fd5e2e.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mesh/bowl.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/mesh/bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/baeb4443712f5363bde4b87c92e97296/mesh/thermos_013.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/baeb4443712f5363bde4b87c92e97296/thermos_013.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/b8ae0d4d84ee584280ebdd8b21437766/mesh/mug_014.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/b8ae0d4d84ee584280ebdd8b21437766/mug_014.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/beaeea07936d59faa7e878cd19ae0468/mesh/thermos_040.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/beaeea07936d59faa7e878cd19ae0468/thermos_040.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/be68eae04a8b59d296c84863eb158ea7.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mesh/black_jar.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mesh/black_jar_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/be68eae04a8b59d296c84863eb158ea7.urdf b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/be68eae04a8b59d296c84863eb158ea7.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3fd2e1a623a23d6f408dadf8629d411c24f93318
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/be68eae04a8b59d296c84863eb158ea7.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>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4500" />
+         <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>0.171717</scale>
+         <version>v0.1.7</version>
+         <category>black jar</category>
+         <description>matte black cylindrical jar with threaded lid</description>
+         <min_height>0.1</min_height>
+         <max_height>0.15</max_height>
+         <real_height>0.125</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.6</max_mass>
+         <generate_time>20260116165657</generate_time>
+         <gs_model>mesh/black_jar_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.439292907714844</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</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/ware/be68eae04a8b59d296c84863eb158ea7/be68eae04a8b59d296c84863eb158ea7.usd b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/be68eae04a8b59d296c84863eb158ea7.usd
new file mode 100644
index 0000000000000000000000000000000000000000..cbe89001ded088d169a001d51706f3df51eeb77b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/be68eae04a8b59d296c84863eb158ea7.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5781019cec82878f8cfa55f4849b212c7f77cc866fdcac25576340fe94c50c75
+size 739224
diff --git a/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mesh/black_jar.glb b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mesh/black_jar.glb
new file mode 100644
index 0000000000000000000000000000000000000000..6c802b6f4633a24fd866059d5d7613cece761e82
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mesh/black_jar.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3e1bb7f7d06d96136eec089765424aa2aa2aaa2a353ad154506e5e61d01ecbf
+size 1359092
diff --git a/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mesh/black_jar.obj b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mesh/black_jar.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6358b11f1421e9ed089e19b5ba4900d24b155d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mesh/black_jar.obj
@@ -0,0 +1,46216 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mesh/black_jar_collision.obj b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mesh/black_jar_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..074c968e65634c22fa232d2d4302e1810c890ce1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mesh/black_jar_collision.obj
@@ -0,0 +1,24449 @@
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diff --git a/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mesh/black_jar_gs.ply b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mesh/black_jar_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..4fb4dd5cfdca3d3fe47a0f08070b8c92b297c8b5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mesh/black_jar_gs.ply
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+version https://git-lfs.github.com/spec/v1
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+size 6473738
diff --git a/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mesh/material.mtl b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mesh/material_0.png b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/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/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/be68eae04a8b59d296c84863eb158ea7.xml b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/be68eae04a8b59d296c84863eb158ea7.xml
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index 0000000000000000000000000000000000000000..85aab2f20545de3bb05959c409a155055a9665c2
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+++ b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/be68eae04a8b59d296c84863eb158ea7.xml
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+    <mesh name="collision_mesh_0_27" file="mesh/black_jar_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/black_jar_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/black_jar_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/black_jar_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/black_jar_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/black_jar_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/black_jar_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/black_jar_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/black_jar_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/black_jar_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/black_jar_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/black_jar_collision_38.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" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar.obj b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar.obj
new file mode 100644
index 0000000000000000000000000000000000000000..639a7854dba9955f63a80c5193f136de061da98f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar.obj
@@ -0,0 +1,46216 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision.obj b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..642fea2d1912850400401ac77b0348708183fabb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision.obj
@@ -0,0 +1,24449 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_0.obj b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9a73c00d9a3d81277246a46b83bbceb75f299c8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_1.obj b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d160459194bc643bd126cc61c3d4d65f42db906a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_10.obj b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..926d11c49e1043a086502a8bff5f85eb9b865e78
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_10.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v -0.02645571 -0.07298877 0.02654678
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+
diff --git a/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_11.obj b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4d2ed48d8ebc10cd6d986b4603c7c6709a4cec8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_11.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_12.obj b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50a5bc1fb9a61593fd34d07773eb17ff3e23a587
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_12.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_13.obj b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c17588fc1589e8d775cbe1214a14fe63be5763c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_13.obj
@@ -0,0 +1,250 @@
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diff --git a/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_14.obj b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a701416a9333f167f5ac0ca234a1072e87551703
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_14.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_15.obj b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e491a081d35ac951b669b325d8bf1046016637ef
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_15.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_16.obj b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0282bcb9768b96b0ffe13de0d6f59177bbfae99e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_16.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_17.obj b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8735d01ce1746a150eece7c7f7f01c909a0b603
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_17.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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+v -0.08598577 -0.00102377 0.02654705
+v -0.08596831 -0.00145359 0.02718017
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diff --git a/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_18.obj b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf07e5fc81426aa1d0adb0a948b0061ef19e9b9a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_18.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_19.obj b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a22d8e2c6981de8d8c7f3ffee0aba19b1261f6af
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_19.obj
@@ -0,0 +1,535 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_2.obj b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14c6194db622be02b887dbcb62199a70b0614af4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_20.obj b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..278571e347cc6d14aa4cd33eb4b7eae200fc4d3d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_20.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_21.obj b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51f5fe3e695422c6547239dffb10423ecf775db8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_21.obj
@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_22.obj b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60523aa0fa5ebee9629df168f389e8f9392af092
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_22.obj
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diff --git a/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_23.obj b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56c57dd87dc11a2b3c0b3e517b3c601bba658b7c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_23.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_24.obj b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6dab00ed1e6f5f76c7fe3eb956a5c9387f1048e0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_24.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_25.obj b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edcd4a45d60450b04945f98fd5558c89af5cca35
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_25.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_26.obj b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2823fce90e078e887d14621e591462ca189728e5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_26.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_27.obj b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b639f34708f115019e02ed2a630584303526785a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_27.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_28.obj b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e02958c425bb5a27e856604983a992025c17a82
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_28.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_29.obj b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9277b112fd71fb6a88664cfaf1c74aef27502f44
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_29.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_3.obj b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f16a701385e6999ab4388f1641ab03ed79778456
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_3.obj
@@ -0,0 +1,4369 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_30.obj b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b49d1067855a38d8fff02ed43b511c9d3951893
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_30.obj
@@ -0,0 +1,367 @@
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+
diff --git a/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_31.obj b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebc69341b8e7b40e4a8fd516acac8b462c5af84e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_31.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.00592393 0.07651352 0.02637206
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diff --git a/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_32.obj b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15d1703bf6a8bcd8a6e5f8e61b7f5ff284edc85c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_32.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_33.obj b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..648d81c85d1183843536f44fc97e3b96a3fdd7a7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_33.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.00138597 0.07669678 0.02637206
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diff --git a/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_34.obj b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd7769c12af533f3f9a5e8f36033e2bfbec98e6b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_34.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_35.obj b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8d008fe0b188cd39bd7e915a5c3c8c38abb19b0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_35.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_36.obj b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29346618fd001ff174848eed4505a9171c4eebe9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_36.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_37.obj b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..420392a440eb965365809c4250806ea6214c1197
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_37.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_38.obj b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6539ab8fe9b5618e19390ced6106def0ff1c8243
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_38.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_4.obj b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e2b36471e5ccd3ca561809a5325ca3ffba84af2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_4.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_5.obj b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78f8e7e6c52d58e1e3b7369c28e1b0bb1a24d5b4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_5.obj
@@ -0,0 +1,385 @@
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diff --git a/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_6.obj b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cafcc6a57beabaa6ca62a3ea231a7cf915b6d7b2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_6.obj
@@ -0,0 +1,568 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_7.obj b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78c341a25b8cbb6c37eb3e572e4fc32e4a408ab7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_7.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_8.obj b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd8ce7f8068b1154a44be57fd12578c16ef2da4d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_8.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_9.obj b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/mjcf/mesh/black_jar_collision_9.obj
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diff --git a/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/video.mp4 b/dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/video.mp4
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