diff --git a/.gitattributes b/.gitattributes
index 4963d120fa7388cbb19bb51eca0023647ac902c8..daac42d96f53fe96dcbb52e5c894ef9e77be71fd 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4604,3 +4604,6 @@ dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/spice_jar_019
 dataset/kitchen_supplies/utensils/e8c2e3c2d08e5b79b2400d4545686d3d/e8c2e3c2d08e5b79b2400d4545686d3d.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/e8c2e3c2d08e5b79b2400d4545686d3d/mesh/plate.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/e8c2e3c2d08e5b79b2400d4545686d3d/mesh/plate_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/e9661e1c79735c2093d1aa29be33d9ff.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mesh/pepper_grinder.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mesh/pepper_grinder_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/e9661e1c79735c2093d1aa29be33d9ff.urdf b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/e9661e1c79735c2093d1aa29be33d9ff.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8ecfd16a05b2cc98b0f86e42738448546b03901c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/e9661e1c79735c2093d1aa29be33d9ff.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pepper_grinder">
+   <link name="pepper_grinder">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/pepper_grinder.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/pepper_grinder_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.5500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.225000</scale>
+         <version>v0.1.7</version>
+         <category>pepper grinder</category>
+         <description>cylindrical golden pepper grinder with a tapered midsection</description>
+         <min_height>0.2</min_height>
+         <max_height>0.25</max_height>
+         <real_height>0.225</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.7</max_mass>
+         <generate_time>20260120023743</generate_time>
+         <gs_model>mesh/pepper_grinder_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.517507076263428</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>5</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/utensils/e9661e1c79735c2093d1aa29be33d9ff/e9661e1c79735c2093d1aa29be33d9ff.usd b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/e9661e1c79735c2093d1aa29be33d9ff.usd
new file mode 100644
index 0000000000000000000000000000000000000000..a7216b4893c2e2ec0d3977464ccc01ff2a372afc
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/e9661e1c79735c2093d1aa29be33d9ff.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5f2c79c2f512a26129edce8911ef4f9693c4474455519f6443dd3f4e18f5060
+size 294984
diff --git a/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mesh/material.mtl b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mesh/material_0.png b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..802e9e43cb51e3c2bec3ebe7080fede1fe2dbcf7
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:345bcf6269c8f5144217403120afabdfd48d7ed8c0c425f2eeef752b19cbe921
+size 1890751
diff --git a/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mesh/pepper_grinder.glb b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mesh/pepper_grinder.glb
new file mode 100644
index 0000000000000000000000000000000000000000..9558ed1ed4ad0e58cf90cde974e7cfa58f75554d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mesh/pepper_grinder.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b63e525967333a7cae88159006da94e746a29538da7ed37d69d15e91569f1bd5
+size 2094832
diff --git a/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mesh/pepper_grinder.obj b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mesh/pepper_grinder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a45bdf5950e875404be417703b977275ebd0e7e0
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mesh/pepper_grinder.obj
@@ -0,0 +1,18626 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mesh/pepper_grinder_collision.obj b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mesh/pepper_grinder_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b77875098f0bb32cbbae98fa349b18547f3083c7
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mesh/pepper_grinder_collision.obj
@@ -0,0 +1,10499 @@
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diff --git a/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mesh/pepper_grinder_gs.ply b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mesh/pepper_grinder_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..b1086b9c3e00540596f0d35f2e40f84894431069
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mesh/pepper_grinder_gs.ply
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/e9661e1c79735c2093d1aa29be33d9ff.xml b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/e9661e1c79735c2093d1aa29be33d9ff.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e389098a71c2eba9877e42fb2abc99dabc07dab6
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/e9661e1c79735c2093d1aa29be33d9ff.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pepper_grinder">
+  <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/pepper_grinder.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pepper_grinder_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pepper_grinder_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pepper_grinder_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pepper_grinder_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pepper_grinder_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/pepper_grinder_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/pepper_grinder_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/pepper_grinder_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/pepper_grinder_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/pepper_grinder_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/pepper_grinder_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/pepper_grinder_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/pepper_grinder_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/pepper_grinder_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/pepper_grinder_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/pepper_grinder_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/pepper_grinder_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/pepper_grinder_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/pepper_grinder_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/pepper_grinder_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/pepper_grinder_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/pepper_grinder_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/pepper_grinder_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/pepper_grinder_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/pepper_grinder_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/pepper_grinder_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/pepper_grinder_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/pepper_grinder_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/pepper_grinder_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/pepper_grinder_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/pepper_grinder_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/pepper_grinder_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/pepper_grinder_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pepper_grinder">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_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" />
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+      <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" />
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+      <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" />
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:345bcf6269c8f5144217403120afabdfd48d7ed8c0c425f2eeef752b19cbe921
+size 1890751
diff --git a/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder.obj b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb3dfc02dcb6731ddcf944a0f4aae49dac16e893
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder.obj
@@ -0,0 +1,18626 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision.obj b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cb89c4c275bca1ac84a6694eaa90fbbe1670b93
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision.obj
@@ -0,0 +1,10499 @@
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diff --git a/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_0.obj b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6c305ee0da2afaa2bf83b16a363813b5d2b5d53
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_0.obj
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diff --git a/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_1.obj b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54a12afc9b6e3cc308ad68184b66cfa26a8a6c0d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_1.obj
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diff --git a/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_10.obj b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c5e4a086f6dec528f4c778b49d892cbff660a8f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_10.obj
@@ -0,0 +1,529 @@
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diff --git a/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_11.obj b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42726bdc5afa26918ef3915cb7ebd6eb41e2a661
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_11.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_12.obj b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..602aad704e2e695ce2771cb04616fdc3b79c7827
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_12.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.00182264 -0.02248180 -0.02679527
+v 0.00012546 -0.02246632 -0.02678796
+v 0.00012546 -0.02226069 -0.02679527
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+
diff --git a/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_13.obj b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..601f9928066796104eee6a313b5c15bde6cf8b8d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_13.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.02833356 0.00006231 -0.03536087
+v 0.02827761 0.00006233 -0.04132266
+v 0.02776042 0.00006230 -0.03346982
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+
diff --git a/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_14.obj b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17e94056d962a17e1b3a75dc3023253ed05facc0
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_14.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
+v 0.01269778 -0.01588146 -0.04132414
+v 0.01291640 -0.01588145 -0.04278442
+v -0.00000317 -0.02013436 -0.04132415
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+v -0.00000317 -0.03749278 -0.04327004
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diff --git a/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_15.obj b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39c0eff87466558f297fba23eadd076a6cf94c05
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_15.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_16.obj b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f6e3eb46e28383d21a79628827368b0fe3101c3
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_16.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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+v 0.01139811 0.02541918 -0.03272994
+v 0.01198573 0.01905211 -0.02679980
+v 0.01285143 0.02205224 -0.02957938
+v 0.01285143 0.02383874 -0.03157670
+v 0.01259725 0.02397686 -0.03155654
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 26
+f 1 26 27
+f 1 27 12
+f 1 12 5
+f 1 5 16
+f 1 16 30
+f 1 30 29
+f 1 29 31
+f 1 31 17
+f 1 17 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 6 17 7
+f 7 17 18
+f 7 18 8
+f 8 18 9
+f 9 19 10
+f 9 18 20
+f 9 20 21
+f 9 21 22
+f 9 22 23
+f 9 23 24
+f 9 24 25
+f 9 25 19
+f 10 19 26
+f 10 26 11
+f 12 27 35
+f 12 35 34
+f 12 34 28
+f 12 28 15
+f 12 15 14
+f 12 14 13
+f 15 28 33
+f 15 33 24
+f 15 24 23
+f 15 23 22
+f 15 22 21
+f 15 21 20
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+f 15 31 29
+f 15 29 30
+f 15 30 16
+f 17 31 18
+f 19 25 32
+f 19 32 26
+f 24 33 34
+f 24 34 25
+f 25 34 35
+f 25 35 36
+f 25 36 32
+f 26 32 27
+f 27 32 35
+f 28 34 33
+f 32 36 35
+
diff --git a/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_17.obj b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65e3c47308e582a8ff1da612e716a7f238a20601
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_17.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.00011046 0.01807326 -0.01755283
+v -0.00177263 0.01806848 -0.01755283
+v -0.00177263 0.01612633 -0.01098179
+v -0.00022753 0.01611837 -0.01098179
+v 0.00011046 0.01611519 -0.01098179
+v 0.00011046 0.01076798 -0.01755286
+v -0.00468938 0.01751290 -0.01755284
+v -0.00539934 0.01520143 -0.01098179
+v 0.00011046 0.00926361 -0.01098182
+v 0.00011046 0.01072341 -0.01746538
+v -0.01090557 0.00181031 -0.01755289
+v -0.00521872 0.01734098 -0.01755284
+v -0.00547982 0.01724865 -0.01755284
+v -0.00708394 0.01444527 -0.01098180
+v -0.00903857 0.00181029 -0.01098762
+v 0.00011046 0.00928749 -0.01114971
+v -0.00903678 0.00182143 -0.01098184
+v 0.00011046 0.01062312 -0.01716883
+v -0.01035656 0.00181031 -0.01603155
+v -0.01815541 0.00181031 -0.01755289
+v 0.00011046 0.01039707 -0.01649725
+v -0.00829820 0.01593214 -0.01755284
+v -0.00900101 0.01559465 -0.01755284
+v -0.00721270 0.01441185 -0.01108408
+v -0.00731463 0.01431315 -0.01098180
+v -0.01594326 0.00181029 -0.01098184
+v -0.00953214 0.00181030 -0.01310529
+v 0.00011046 0.00956927 -0.01309625
+v 0.00011046 0.00940847 -0.01198725
+v -0.01598797 0.00181029 -0.01098184
+v -0.01815541 0.00182145 -0.01755289
+v -0.01002214 0.01493560 -0.01755285
+v -0.00828390 0.01368434 -0.01098180
+v -0.01598797 0.00182143 -0.01098184
+v -0.01757242 0.00476012 -0.01755288
+v -0.00897419 0.01320040 -0.01098180
+v -0.01177112 0.01352676 -0.01755285
+v -0.01039054 0.01210517 -0.01098181
+v -0.01561064 0.00336559 -0.01098184
+v -0.01510275 0.00535070 -0.01098183
+v -0.01728092 0.00563885 -0.01755288
+v -0.01265812 0.01270693 -0.01755285
+v -0.01129721 0.01133309 -0.01098181
+v -0.01441246 0.00703334 -0.01098182
+v -0.01437133 0.00724666 -0.01114199
+v -0.01562137 0.00904554 -0.01755287
+v -0.01351294 0.01181387 -0.01755286
+v -0.01492929 0.01009301 -0.01755286
+v -0.01313739 0.00900254 -0.01098182
+v -0.01421575 0.00740426 -0.01098182
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 16
+f 1 16 29
+f 1 29 28
+f 1 28 21
+f 1 21 18
+f 1 18 10
+f 1 10 6
+f 1 6 11
+f 1 11 20
+f 1 20 31
+f 1 31 35
+f 1 35 41
+f 1 41 46
+f 1 46 48
+f 1 48 47
+f 1 47 42
+f 1 42 37
+f 1 37 32
+f 1 32 23
+f 1 23 22
+f 1 22 13
+f 1 13 12
+f 1 12 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 14
+f 3 14 25
+f 3 25 33
+f 3 33 36
+f 3 36 38
+f 3 38 43
+f 3 43 49
+f 3 49 50
+f 3 50 44
+f 3 44 40
+f 3 40 39
+f 3 39 34
+f 3 34 30
+f 3 30 26
+f 3 26 17
+f 3 17 9
+f 3 9 5
+f 3 5 4
+f 6 10 11
+f 7 12 8
+f 8 12 13
+f 8 13 14
+f 9 15 16
+f 9 17 15
+f 10 18 11
+f 11 19 27
+f 11 27 15
+f 11 15 26
+f 11 26 30
+f 11 30 20
+f 11 18 21
+f 11 21 19
+f 13 22 14
+f 14 22 23
+f 14 23 24
+f 14 24 25
+f 15 17 26
+f 15 27 28
+f 15 28 29
+f 15 29 16
+f 19 21 28
+f 19 28 27
+f 20 30 34
+f 20 34 31
+f 23 32 25
+f 23 25 24
+f 25 32 33
+f 31 34 35
+f 32 36 33
+f 32 37 38
+f 32 38 36
+f 34 39 35
+f 35 39 40
+f 35 40 41
+f 37 42 43
+f 37 43 38
+f 40 44 41
+f 41 44 45
+f 41 45 46
+f 42 47 43
+f 43 47 48
+f 43 48 49
+f 44 50 45
+f 45 50 46
+f 46 50 48
+f 48 50 49
+
diff --git a/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_18.obj b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45018aa281f9486cc3448e3b9df9a8dfb03ddc3e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_18.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.00177328 0.01612653 -0.01098179
+v -0.00539984 0.01520200 -0.01098179
+v -0.00454126 0.01480196 -0.00190207
+v -0.00182935 0.01544166 -0.00190206
+v -0.00177328 0.01545411 -0.00190206
+v -0.00022751 0.01611875 -0.01098179
+v -0.00638337 0.01397548 -0.00190207
+v -0.00708498 0.01444556 -0.01098180
+v 0.00036037 0.01544166 -0.00190206
+v 0.00036037 0.01611408 -0.01098179
+v -0.00731564 0.01431326 -0.01098180
+v -0.00938362 0.01202525 -0.00190208
+v 0.00036037 0.00302739 -0.00190211
+v 0.00036037 0.00927035 -0.01098182
+v -0.00828155 0.01368446 -0.01098180
+v -0.00897194 0.01320040 -0.01098180
+v -0.01039117 0.01210621 -0.01098181
+v -0.01082527 0.01086413 -0.00190208
+v -0.00218335 0.00022733 -0.00190212
+v -0.00898956 0.00022736 -0.01098185
+v -0.01129781 0.01133421 -0.01098181
+v -0.01313673 0.00900109 -0.01098182
+v -0.01199942 0.00927655 -0.00190209
+v -0.01501888 0.00022733 -0.00190212
+v -0.01600241 0.00022736 -0.01098185
+v -0.01421636 0.00740417 -0.01098182
+v -0.01388478 0.00595975 -0.00190210
+v -0.01501568 0.00181958 -0.00190211
+v -0.01598800 0.00182117 -0.01098184
+v -0.01441339 0.00703373 -0.01098182
+v -0.01457357 0.00419629 -0.00190210
+v -0.01510218 0.00535120 -0.01098183
+v -0.01458959 0.00413714 -0.00190210
+v -0.01561157 0.00336517 -0.01098184
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 14
+f 1 14 20
+f 1 20 25
+f 1 25 29
+f 1 29 34
+f 1 34 32
+f 1 32 30
+f 1 30 26
+f 1 26 22
+f 1 22 21
+f 1 21 17
+f 1 17 16
+f 1 16 15
+f 1 15 11
+f 1 11 8
+f 1 8 2
+f 2 7 3
+f 2 8 7
+f 3 7 12
+f 3 12 18
+f 3 18 23
+f 3 23 27
+f 3 27 31
+f 3 31 33
+f 3 33 28
+f 3 28 24
+f 3 24 19
+f 3 19 13
+f 3 13 9
+f 3 9 5
+f 3 5 4
+f 5 9 6
+f 6 9 10
+f 7 8 11
+f 7 11 12
+f 9 13 14
+f 9 14 10
+f 11 15 12
+f 12 15 16
+f 12 16 17
+f 12 17 18
+f 13 19 14
+f 14 19 20
+f 17 21 18
+f 18 21 22
+f 18 22 23
+f 19 24 25
+f 19 25 20
+f 22 26 23
+f 23 26 27
+f 24 28 25
+f 25 28 29
+f 26 30 27
+f 27 30 32
+f 27 32 31
+f 28 33 29
+f 29 33 34
+f 31 32 33
+f 32 34 33
+
diff --git a/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_19.obj b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b63690ee741830d3a464e2c72ab071da5ded3ec1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_19.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.02015251 0.00006233 -0.04132408
+v 0.02029308 0.00006234 -0.04278436
+v 0.01269439 -0.01588146 -0.04132414
+v 0.02827634 0.00006233 -0.04132408
+v 0.02063787 0.00006234 -0.04431944
+v 0.01291453 -0.01588145 -0.04278442
+v 0.02450484 -0.01588146 -0.04132414
+v 0.02826838 -0.00176989 -0.04132409
+v 0.03415372 -0.00176989 -0.04194695
+v 0.03415372 0.00006233 -0.04195184
+v 0.02097205 0.00006235 -0.04579444
+v 0.01595931 -0.01588144 -0.04665277
+v 0.02696348 -0.01254319 -0.04132413
+v 0.03056258 -0.01588146 -0.04197029
+v 0.02822595 -0.00522209 -0.04132410
+v 0.03415372 -0.00535787 -0.04198129
+v 0.03774751 -0.00176988 -0.04307741
+v 0.02811190 -0.00882412 -0.04132411
+v 0.03774751 0.00006234 -0.04308476
+v 0.02196399 0.00006235 -0.04670298
+v 0.02300367 0.00006236 -0.04764831
+v 0.03277985 0.00006238 -0.05384993
+v 0.02800316 -0.01588141 -0.05384999
+v 0.02704039 -0.01235435 -0.04132413
+v 0.03080393 -0.01588146 -0.04200094
+v 0.03415372 -0.00894585 -0.04205977
+v 0.02809068 -0.00894585 -0.04132411
+v 0.03727011 -0.00894584 -0.04343300
+v 0.03800478 -0.00521116 -0.04355070
+v 0.03967834 -0.00176988 -0.04439302
+v 0.03967569 0.00006234 -0.04439669
+v 0.03872884 0.00006234 -0.04375176
+v 0.03975791 0.00006238 -0.05384993
+v 0.03596785 -0.01588141 -0.05384999
+v 0.03431285 -0.01588145 -0.04327241
+v 0.03415372 -0.01253381 -0.04236509
+v 0.03672374 -0.01253381 -0.04371993
+v 0.03959878 -0.00391580 -0.04453525
+v 0.03978974 -0.00176987 -0.04649578
+v 0.03972874 0.00006235 -0.04542661
+v 0.03978178 0.00006235 -0.04649577
+v 0.03976587 -0.00170429 -0.05384994
+v 0.03633386 -0.01513385 -0.05384999
+v 0.03637099 -0.01518226 -0.04649583
+v 0.03601825 -0.01588144 -0.04649583
+v 0.03448790 -0.01588145 -0.04336437
+v 0.03624899 -0.01492944 -0.04418830
+v 0.03930968 -0.00584634 -0.04649579
+v 0.03962000 -0.00405157 -0.04649578
+v 0.03859623 -0.00894583 -0.04649580
+v 0.03976587 -0.00176984 -0.05384994
+v 0.03960939 -0.00399067 -0.05384994
+v 0.03740007 -0.01253377 -0.05384998
+v 0.03745576 -0.01253380 -0.04649582
+v 0.03588298 -0.01588144 -0.04525992
+v 0.03471864 -0.01588145 -0.04351273
+v 0.03932825 -0.00579951 -0.05020475
+v 0.03932295 -0.00578544 -0.05384995
+v 0.03859888 -0.00894582 -0.05020476
+v 0.03859092 -0.00894580 -0.05384996
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 24
+f 1 24 27
+f 1 27 18
+f 1 18 15
+f 1 15 8
+f 1 8 4
+f 1 4 10
+f 1 10 19
+f 1 19 32
+f 1 32 31
+f 1 31 40
+f 1 40 41
+f 1 41 33
+f 1 33 22
+f 1 22 21
+f 1 21 20
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+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 12
+f 3 12 23
+f 3 23 34
+f 3 34 45
+f 3 45 55
+f 3 55 56
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+f 3 25 14
+f 3 14 7
+f 4 8 9
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+f 5 11 6
+f 6 11 12
+f 7 14 13
+f 8 15 9
+f 9 16 17
+f 9 17 10
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+f 9 18 16
+f 10 17 19
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+f 13 14 25
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+f 13 26 24
+f 16 26 17
+f 16 18 27
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+f 17 28 29
+f 17 29 30
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+f 17 32 19
+f 17 26 28
+f 22 33 42
+f 22 42 51
+f 22 51 52
+f 22 52 58
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+f 22 43 34
+f 22 34 23
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+f 28 36 37
+f 29 38 30
+f 30 38 39
+f 30 39 31
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+f 33 41 42
+f 34 43 44
+f 34 44 45
+f 35 46 36
+f 36 46 37
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+f 38 48 49
+f 38 49 39
+f 38 47 50
+f 38 50 48
+f 39 51 42
+f 39 42 41
+f 39 41 40
+f 39 49 52
+f 39 52 51
+f 43 53 44
+f 44 53 54
+f 44 54 47
+f 44 47 45
+f 45 47 55
+f 46 56 47
+f 47 54 50
+f 47 56 55
+f 48 57 49
+f 48 50 57
+f 49 57 58
+f 49 58 52
+f 50 54 59
+f 50 59 57
+f 53 60 54
+f 54 60 59
+f 57 59 60
+f 57 60 58
+
diff --git a/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_2.obj b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ceea20f11e18c29acf4d15c98f1f75218afcf838
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_2.obj
@@ -0,0 +1,538 @@
+# https://github.com/mikedh/trimesh
+v -0.03190284 0.02263257 -0.05554533
+v -0.03189972 0.02263257 -0.05393367
+v -0.03108474 0.02364805 -0.05393366
+v -0.03109723 0.02364321 -0.06133923
+v -0.03109098 0.02364171 -0.09844792
+v -0.03189347 0.02263273 -0.09844793
+v -0.02294121 0.02263257 -0.05393367
+v -0.02928929 0.02577812 -0.05393366
+v -0.02929554 0.02578625 -0.05763067
+v -0.02929866 0.02579115 -0.06133923
+v -0.02929242 0.02578315 -0.09844792
+v -0.02928305 0.02576855 -0.10215648
+v -0.03107849 0.02363036 -0.10215648
+v -0.03187474 0.02263275 -0.10215649
+v -0.00000317 0.03208871 -0.05393363
+v -0.02299741 0.02263277 -0.10957938
+v -0.02753756 0.02757186 -0.05393365
+v -0.02754068 0.02757999 -0.05763066
+v -0.02754068 0.02758489 -0.06133922
+v -0.02754380 0.02758327 -0.06505355
+v -0.02753443 0.02757852 -0.09844791
+v -0.02752194 0.02756392 -0.10215647
+v -0.02926119 0.02574094 -0.10586503
+v -0.03105664 0.02360275 -0.10586503
+v -0.03185600 0.02263275 -0.10383169
+v -0.00000317 0.03922955 -0.05393361
+v -0.00000317 0.03214735 -0.09473355
+v -0.02304425 0.02263277 -0.10982777
+v -0.00000317 0.03244473 -0.10957934
+v -0.00000317 0.03221238 -0.10552997
+v -0.00000317 0.03219450 -0.10401073
+v -0.00000317 0.03217174 -0.10033105
+v -0.00000317 0.03215385 -0.09661671
+v -0.02573898 0.02928274 -0.05393364
+v -0.02574523 0.02928439 -0.06133921
+v -0.02574211 0.02928437 -0.05763065
+v -0.02574523 0.02928440 -0.06505354
+v -0.02573898 0.02927802 -0.09844790
+v -0.02572337 0.02926505 -0.10215646
+v -0.02569527 0.02923906 -0.10586501
+v -0.02749072 0.02753631 -0.10586502
+v -0.02915502 0.02562559 -0.10957937
+v -0.03183102 0.02263276 -0.10586504
+v -0.03161557 0.02263277 -0.10956205
+v -0.00000317 0.03922632 -0.05945601
+v -0.00177364 0.03922794 -0.05763062
+v -0.00177364 0.03922955 -0.05393361
+v -0.02397788 0.02263278 -0.11201131
+v -0.00000317 0.03289318 -0.11044005
+v -0.02354385 0.03107648 -0.05393364
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+v -0.02352824 0.03107175 -0.09473356
+v -0.02352200 0.03107014 -0.09844790
+v -0.02350014 0.03105879 -0.10215646
+v -0.02347516 0.03103280 -0.10586501
+v -0.02162038 0.03238787 -0.10835470
+v -0.02556725 0.02912696 -0.10957935
+v -0.02736270 0.02742096 -0.10957936
+v -0.02894581 0.02539976 -0.11167627
+v -0.03153438 0.02263278 -0.11033034
+v -0.03121589 0.02308771 -0.10990287
+v -0.00000317 0.03922471 -0.06133918
+v -0.00177364 0.03919721 -0.09473353
+v -0.00536766 0.03886892 -0.07247640
+v -0.00536766 0.03885748 -0.05393361
+v -0.00536766 0.03887053 -0.06876207
+v -0.00536766 0.03886889 -0.06505351
+v -0.00536766 0.03886564 -0.06133918
+v -0.00536766 0.03886237 -0.05763062
+v -0.02691930 0.02263278 -0.11271029
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diff --git a/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_20.obj b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0a010e75ac6392f6270cd780e0d9b9536920c8e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_20.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_21.obj b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d56c35547d072fadfac80c37f82e3e0abc3ad420
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_21.obj
@@ -0,0 +1,100 @@
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+f 31 34 32
+f 32 34 33
+
diff --git a/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_22.obj b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3230f4030e2f47bd563815d96bd17f009516ba74
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_22.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.01258244 0.01592580 -0.04053107
+v 0.01275817 0.01592581 -0.04247918
+v 0.02007768 0.00006389 -0.04053113
+v 0.02618304 0.01592580 -0.04053107
+v 0.01276882 0.01592581 -0.04259286
+v 0.02011762 0.00006389 -0.04096622
+v 0.02815071 0.00006389 -0.04053113
+v 0.02634546 0.01558263 -0.04053107
+v 0.03415489 0.01258572 -0.04235768
+v 0.03056037 0.01592580 -0.04192258
+v 0.01278746 0.01592581 -0.04278492
+v 0.02029335 0.00006390 -0.04278498
+v 0.03415489 0.00006389 -0.04195139
+v 0.02815870 0.00182166 -0.04053112
+v 0.02749837 0.01257795 -0.04053108
+v 0.03415489 0.00899718 -0.04204282
+v 0.03725416 0.00899719 -0.04342387
+v 0.03671099 0.01258572 -0.04372568
+v 0.03432263 0.01592581 -0.04326967
+v 0.01354631 0.01592581 -0.04441815
+v 0.02097232 0.00006391 -0.04579405
+v 0.02063683 0.00006390 -0.04431891
+v 0.03774675 0.00006390 -0.04308419
+v 0.03415489 0.00182166 -0.04195529
+v 0.02805219 0.00541020 -0.04053111
+v 0.02778593 0.00899718 -0.04053110
+v 0.03415489 0.00541020 -0.04198664
+v 0.03774675 0.00182167 -0.04309072
+v 0.03799437 0.00522853 -0.04356369
+v 0.03959193 0.00391175 -0.04454364
+v 0.03623705 0.01498636 -0.04420910
+v 0.03474066 0.01592581 -0.04352445
+v 0.01596661 0.01592582 -0.04658708
+v 0.02300389 0.00006392 -0.04764809
+v 0.02196281 0.00006391 -0.04670343
+v 0.03872925 0.00006390 -0.04375186
+v 0.03967181 0.00182167 -0.04439991
+v 0.03977565 0.00182168 -0.04649567
+v 0.03960791 0.00401735 -0.04649567
+v 0.03929106 0.00581084 -0.04649566
+v 0.03857215 0.00899720 -0.04649565
+v 0.03605865 0.01592582 -0.04649562
+v 0.03745386 0.01258573 -0.04649563
+v 0.03637284 0.01527985 -0.04649562
+v 0.02812408 0.01592585 -0.05387782
+v 0.03278364 0.00006394 -0.05387788
+v 0.03967447 0.00006390 -0.04439600
+v 0.03973039 0.00006391 -0.04542690
+v 0.03978364 0.00006391 -0.04649568
+v 0.03975169 0.00184345 -0.05387787
+v 0.03959726 0.00396458 -0.05387787
+v 0.03959460 0.00398322 -0.05387787
+v 0.03931502 0.00575963 -0.05387786
+v 0.03931768 0.00576582 -0.05020505
+v 0.03859079 0.00899721 -0.05020504
+v 0.03634355 0.01525503 -0.05387782
+v 0.03604534 0.01592583 -0.04884225
+v 0.03857748 0.00903449 -0.05387785
+v 0.03742191 0.01258576 -0.05387783
+v 0.03741126 0.01261371 -0.05387783
+v 0.03636219 0.01525812 -0.05020501
+v 0.03601605 0.01592585 -0.05387782
+v 0.03975968 0.00006394 -0.05387788
+v 0.03975968 0.00008102 -0.05387788
+v 0.03858813 0.00899723 -0.05387785
+v 0.03602404 0.01592584 -0.05250852
+v 0.03635154 0.01523640 -0.05387782
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 25
+f 1 25 26
+f 1 26 15
+f 1 15 8
+f 1 8 4
+f 1 4 10
+f 1 10 19
+f 1 19 32
+f 1 32 42
+f 1 42 57
+f 1 57 66
+f 1 66 62
+f 1 62 45
+f 1 45 33
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+f 1 5 2
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+f 18 32 19
+f 18 30 31
+f 20 33 34
+f 20 34 35
+f 20 35 21
+f 23 28 24
+f 23 36 28
+f 24 27 25
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+f 28 37 29
+f 29 37 30
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+f 31 42 32
+f 31 41 43
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+f 31 44 42
+f 33 45 46
+f 33 46 34
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+f 37 49 38
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+f 38 50 51
+f 38 51 39
+f 39 51 52
+f 39 52 53
+f 39 53 54
+f 39 54 40
+f 40 54 55
+f 40 55 41
+f 41 55 43
+f 42 44 56
+f 42 56 57
+f 43 55 58
+f 43 58 59
+f 43 59 60
+f 43 60 44
+f 44 60 61
+f 44 61 56
+f 45 62 56
+f 45 56 67
+f 45 67 60
+f 45 60 59
+f 45 59 58
+f 45 58 65
+f 45 65 53
+f 45 53 52
+f 45 52 51
+f 45 51 50
+f 45 50 64
+f 45 64 63
+f 45 63 46
+f 49 63 64
+f 49 64 50
+f 53 65 54
+f 54 65 55
+f 55 65 58
+f 56 62 66
+f 56 66 57
+f 56 61 67
+f 60 67 61
+
diff --git a/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_23.obj b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a16dae0f857f9c728e8b75673de6a2c20867a3e0
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_23.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.00000317 0.01430456 -0.02679848
+v -0.01219930 0.00702447 -0.02679850
+v -0.00000317 0.01619829 -0.03165116
+v -0.00000317 0.02246462 -0.02679845
+v -0.01219930 0.00725648 -0.02719781
+v -0.00000317 0.02009231 -0.03923576
+v -0.00000317 0.01732699 -0.03423090
+v -0.00000317 0.01674800 -0.03295503
+v -0.01219930 0.01891550 -0.02679846
+v -0.00000317 0.02531355 -0.02969106
+v -0.00177242 0.02532400 -0.02968497
+v -0.00177242 0.02246044 -0.02679845
+v -0.01219930 0.00782083 -0.02816080
+v -0.00000317 0.02837569 -0.03923573
+v -0.01219930 0.01001345 -0.03170961
+v -0.01219930 0.01614396 -0.03923577
+v -0.01193666 0.01904509 -0.02679846
+v -0.00720314 0.02515678 -0.02978845
+v -0.01219930 0.02237685 -0.02965576
+v -0.00000317 0.02598659 -0.03065282
+v -0.00536584 0.02523203 -0.02973976
+v -0.00177242 0.02667217 -0.03165112
+v -0.00500650 0.02223261 -0.02679845
+v -0.00206491 0.02830253 -0.03923573
+v -0.00177242 0.02767965 -0.03536186
+v -0.00000317 0.02769637 -0.03536186
+v -0.01219930 0.02604514 -0.03923573
+v -0.00895209 0.02048522 -0.02679845
+v -0.00536584 0.02632311 -0.03165112
+v -0.00862260 0.02563963 -0.03163652
+v -0.00959795 0.02459243 -0.03038865
+v -0.01219930 0.02394867 -0.03152573
+v -0.00000317 0.02667008 -0.03165112
+v -0.00000317 0.02718427 -0.03347727
+v -0.00536584 0.02777999 -0.03923573
+v -0.00536584 0.02718637 -0.03536186
+v -0.01219930 0.02592182 -0.03872684
+v -0.01119052 0.02535327 -0.03286369
+v -0.00895687 0.02712994 -0.03923573
+v -0.01219930 0.02418068 -0.03188366
+f 1 2 3
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+f 1 6 14
+f 1 14 26
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+f 1 33 20
+f 1 20 10
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+f 6 24 14
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+f 17 28 18
+f 18 21 22
+f 18 22 29
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+f 18 30 31
+f 18 31 19
+f 18 28 23
+f 19 31 32
+f 20 33 22
+f 22 33 34
+f 22 34 26
+f 22 26 25
+f 22 25 29
+f 24 35 36
+f 24 36 25
+f 25 36 29
+f 27 37 38
+f 27 38 39
+f 29 36 30
+f 30 38 31
+f 30 36 38
+f 31 38 32
+f 32 38 40
+f 35 39 36
+f 36 39 38
+f 37 40 38
+
diff --git a/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_24.obj b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb8d576d2e44227bd08d6773eea61710005868a5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_24.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.01072457 -0.00855970 -0.02679988
+v -0.01293717 -0.00855968 -0.03159864
+v -0.01595452 0.00006092 -0.03165165
+v -0.01417040 0.00006090 -0.02679985
+v -0.02069299 -0.00855970 -0.02679988
+v -0.01319282 -0.00855968 -0.03203489
+v -0.02008088 0.00006095 -0.04034351
+v -0.02256893 0.00006090 -0.02679985
+v -0.02227728 -0.00509154 -0.02679987
+v -0.02513260 -0.00718593 -0.02979131
+v -0.02346189 -0.00855969 -0.02906997
+v -0.01826614 -0.00855965 -0.04034354
+v -0.02910232 0.00006095 -0.04034351
+v -0.02529643 0.00006091 -0.02970244
+v -0.02256893 -0.00000323 -0.02679985
+v -0.02255993 -0.00176937 -0.02679986
+v -0.02528743 -0.00176936 -0.02970776
+v -0.02673489 -0.00176935 -0.03165166
+v -0.02642343 -0.00535733 -0.03165167
+v -0.02576811 -0.00855968 -0.03152173
+v -0.02573571 -0.00855968 -0.03146073
+v -0.02773767 -0.00855965 -0.04034354
+v -0.02911493 -0.00176932 -0.04034352
+v -0.02792671 0.00006093 -0.03536177
+v -0.02674389 0.00006092 -0.03165165
+v -0.02793031 -0.00176934 -0.03536178
+v -0.02907712 -0.00511343 -0.04034353
+v -0.02578432 -0.00855968 -0.03157610
+v -0.02669348 -0.00855967 -0.03536180
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 15
+f 1 15 16
+f 1 16 9
+f 1 9 5
+f 1 5 11
+f 1 11 21
+f 1 21 20
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+f 1 28 29
+f 1 29 22
+f 1 22 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
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+f 3 13 24
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+f 24 26 25
+f 27 29 28
+
diff --git a/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_25.obj b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..031931743b4b9594c69e158954d0b895d23d9c42
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_25.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.02773844 -0.00855965 -0.04034354
+v -0.02768957 -0.00894668 -0.04034354
+v -0.02669321 -0.00855967 -0.03536180
+v -0.01826349 -0.00855965 -0.04034354
+v -0.02664162 -0.01250094 -0.04034356
+v -0.02544436 -0.01143307 -0.03266872
+v -0.02578372 -0.00855968 -0.03157610
+v -0.01319480 -0.00855968 -0.03203489
+v -0.00000589 -0.01628826 -0.03165171
+v -0.00000589 -0.01730752 -0.03423208
+v -0.00000589 -0.02005323 -0.04034358
+v -0.02513486 -0.01597415 -0.04034357
+v -0.02161909 -0.01801879 -0.03326280
+v -0.02216749 -0.01580599 -0.03187580
+v -0.02398918 -0.01259216 -0.03151910
+v -0.02465161 -0.00958098 -0.03019442
+v -0.02575657 -0.00860831 -0.03151908
+v -0.02576743 -0.00855968 -0.03152173
+v -0.01293688 -0.00855968 -0.03159864
+v -0.00000589 -0.01496506 -0.02781826
+v -0.00000589 -0.02926108 -0.04034362
+v -0.02208333 -0.01987491 -0.04034358
+v -0.02041639 -0.01678879 -0.03078849
+v -0.02157022 -0.01439564 -0.02977675
+v -0.01798657 -0.02154468 -0.03337684
+v -0.01685718 -0.02039573 -0.03090253
+v -0.02346249 -0.00855969 -0.02906997
+v -0.02573485 -0.00855968 -0.03146073
+v -0.01878475 -0.01253341 -0.02679990
+v -0.01907252 -0.01198427 -0.02679989
+v -0.02056028 -0.00894876 -0.02679988
+v -0.02069331 -0.00855970 -0.02679988
+v -0.01072697 -0.00855970 -0.02679988
+v -0.00000589 -0.01461653 -0.02679990
+v -0.00000589 -0.01472392 -0.02711681
+v -0.00000589 -0.02680514 -0.03165175
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+v -0.01801915 -0.01800461 -0.02977014
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+v -0.00895958 -0.02756905 -0.04034361
+v -0.00536507 -0.02731375 -0.03536187
+v -0.00869895 -0.02570887 -0.03149527
+v -0.00177328 -0.02246264 -0.02679993
+v -0.00733065 -0.02512731 -0.02977414
+v -0.00177328 -0.02780211 -0.03536187
+v -0.00536507 -0.02639987 -0.03165175
+v -0.00639673 -0.02151633 -0.02679993
+v -0.00895686 -0.02047882 -0.02679993
+v -0.00339949 -0.02228027 -0.02679993
+v -0.00424382 -0.02215261 -0.02679993
+f 1 2 3
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+f 1 27 32
+f 1 32 33
+f 1 33 19
+f 1 19 8
+f 1 8 4
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+f 60 66 63
+
diff --git a/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_26.obj b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07ff5a07c0c10201e6501442879471629c7fa658
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_26.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.01288439 -0.01574171 -0.04132272
+v 0.01288439 -0.00918717 -0.03170534
+v 0.01288439 -0.02792840 -0.04132276
+v -0.00000317 -0.02013282 -0.04132273
+v 0.01288439 -0.00683354 -0.02792181
+v 0.01288439 -0.02426720 -0.03136273
+v 0.01188023 -0.02553912 -0.03238931
+v 0.01259803 -0.02802825 -0.04132276
+v -0.00000317 -0.03042470 -0.04132277
+v -0.00000317 -0.01730846 -0.03423198
+v 0.01288439 -0.00616786 -0.02679855
+v 0.01288439 -0.02424818 -0.03133856
+v 0.01013935 -0.02488058 -0.02991530
+v 0.00896741 -0.02587434 -0.03135279
+v 0.00200641 -0.03045561 -0.04132277
+v -0.00000317 -0.02680391 -0.03165138
+v -0.00000317 -0.01628855 -0.03165134
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+v -0.00000317 -0.01472422 -0.02711707
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+v 0.00900525 -0.02043718 -0.02679861
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+v 0.00541374 -0.02523006 -0.02972193
+v 0.00182097 -0.02532754 -0.02968211
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+
diff --git a/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_27.obj b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ed24b0b09c7730d3c6b616b9aabbcf64b3c2de8
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_27.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.03976343 0.00006100 -0.05388822
+v -0.03975749 -0.00178755 -0.05388823
+v -0.03975155 0.00006098 -0.05020541
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+v -0.03955550 -0.00396636 -0.04649610
+v -0.03928519 -0.00585856 -0.05388824
+v -0.03928222 -0.00582189 -0.05020543
+v -0.03960303 -0.00177012 -0.04443066
+v -0.03966838 0.00006097 -0.04548326
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+v -0.02080005 0.00006097 -0.04595786
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+v -0.02326256 -0.01778859 -0.04034623
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+
diff --git a/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_28.obj b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd779276d68f42932a1b07aa96e0a548f8e223da
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_28.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v 0.00182189 0.03923919 -0.05020493
+v 0.00182189 0.03921636 -0.04649554
+v 0.00541552 0.03885808 -0.04649554
+v 0.00541552 0.03886493 -0.05020493
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+v -0.00000317 0.03923008 -0.05387774
+v -0.00000317 0.03923463 -0.05020493
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+v 0.00541552 0.03737702 -0.04329964
+v -0.00000317 0.03920951 -0.04649554
+v -0.00000317 0.03836743 -0.04486493
+v -0.00000317 0.03754818 -0.04328135
+v 0.00900916 0.03704841 -0.04340417
+v 0.01259927 0.03654180 -0.04378962
+v 0.00900916 0.03817803 -0.04649554
+v 0.00537669 0.03885811 -0.05387774
+v 0.00541552 0.03885354 -0.05387774
+v -0.00000317 0.03207131 -0.05387776
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+v 0.00541552 0.03411825 -0.04184673
+v 0.00900916 0.03411825 -0.04195779
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+
diff --git a/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_29.obj b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6431e816591c0efd5ff4294c7d7508b5a7217c7e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_29.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.03664216 0.01455331 -0.04920464
+v -0.03663722 0.01455330 -0.04649554
+v -0.03663722 0.01455332 -0.05291365
+v -0.03746224 0.01258571 -0.04649554
+v -0.03627657 0.01455329 -0.04410440
+v -0.03663228 0.01455333 -0.05392795
+v -0.03743260 0.01259851 -0.05393370
+v -0.03745236 0.01258572 -0.05020455
+v -0.03859110 0.00901373 -0.05393372
+v -0.03860346 0.00899669 -0.05020457
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+v -0.03953470 0.00388265 -0.04455619
+v -0.03668168 0.01258570 -0.04368285
+v -0.03535768 0.01455329 -0.04347855
+v -0.03458205 0.01455333 -0.05393370
+v -0.03743754 0.01258574 -0.05393370
+v -0.03859604 0.00899671 -0.05393372
+v -0.03928522 0.00595809 -0.05393373
+v -0.03928522 0.00592260 -0.05020458
+v -0.03926298 0.00585308 -0.04649557
+v -0.03956434 0.00405856 -0.04649558
+v -0.03973231 0.00182144 -0.04649558
+v -0.03960634 0.00182143 -0.04442383
+v -0.03795627 0.00521045 -0.04352319
+v -0.03723746 0.00899667 -0.04335197
+v -0.03410531 0.01258570 -0.04230168
+v -0.03419918 0.01455329 -0.04285559
+v -0.02881672 0.01455333 -0.05393370
+v -0.03928769 0.00594390 -0.05393373
+v -0.03928769 0.00594390 -0.05391646
+v -0.03958163 0.00414938 -0.05391646
+v -0.03957669 0.00412808 -0.05020458
+v -0.03975701 0.00182145 -0.05020459
+v -0.03972737 0.00006097 -0.04649559
+v -0.03960634 0.00006096 -0.04442672
+v -0.03769938 0.00182143 -0.04309877
+v -0.03410531 0.00899666 -0.04196360
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+v -0.02598593 0.01247645 -0.03923578
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+v -0.03975207 0.00006098 -0.05020460
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+v -0.02766564 0.00566438 -0.03923581
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+v -0.02080109 0.00006097 -0.04595751
+v -0.03976442 0.00182147 -0.05393374
+v -0.03976442 0.00180587 -0.05393374
+v -0.03976195 0.00006100 -0.05391648
+v -0.02004276 0.00006094 -0.03923583
+v -0.02010204 0.00006095 -0.04089323
+v -0.01466277 0.01455329 -0.04278509
+v -0.02017861 0.00006096 -0.04278514
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+f 1 27 40
+f 1 40 51
+f 1 51 61
+f 1 61 54
+f 1 54 42
+f 1 42 28
+f 1 28 15
+f 1 15 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 5
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+f 33 58 45
+f 34 45 58
+f 34 58 52
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+f 34 62 60
+f 34 60 59
+f 34 59 48
+f 34 48 47
+f 34 47 46
+f 34 46 35
+f 35 46 36
+f 36 46 47
+f 36 47 48
+f 36 48 49
+f 36 49 37
+f 37 49 50
+f 37 50 38
+f 38 50 49
+f 38 49 48
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+f 38 51 40
+f 38 40 39
+f 41 42 53
+f 42 54 55
+f 42 55 53
+f 43 56 44
+f 44 56 57
+f 44 57 52
+f 44 52 58
+f 51 59 60
+f 51 60 61
+f 54 61 55
+f 55 61 62
+f 60 62 61
+
diff --git a/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_3.obj b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d91385a362b190a6899906df2a5445b2f65ffa40
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_3.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.01814076 -0.00110395 -0.01755197
+v 0.01112931 -0.00110395 -0.01755197
+v 0.02259779 -0.00110391 -0.02679519
+v 0.01608401 -0.00086840 -0.01098205
+v 0.01116014 -0.00110395 -0.01764214
+v 0.00933020 -0.00086840 -0.01098205
+v 0.00249491 0.00010848 -0.00190212
+v 0.01488167 -0.00110391 -0.02679519
+v 0.02261100 0.00182221 -0.02679518
+v 0.01539916 0.00010848 -0.00190212
+v 0.01117115 -0.00110395 -0.01767382
+v 0.00036329 0.00302767 -0.00190211
+v 0.00012547 0.01415946 -0.02651489
+v 0.01380044 -0.00110392 -0.02436802
+v 0.01228100 -0.00110393 -0.02051526
+v 0.00012547 0.01429803 -0.02679514
+v 0.02231372 0.00512938 -0.02679517
+v 0.01540356 0.00182674 -0.00190211
+v 0.00036329 0.01543882 -0.00190206
+v 0.00011446 0.00926330 -0.01098202
+v 0.00011446 0.00928639 -0.01115261
+v 0.00011446 0.00956816 -0.01309726
+v 0.00011446 0.01039727 -0.01649675
+v 0.00011446 0.01072060 -0.01746420
+v 0.00012547 0.01174371 -0.02034220
+v 0.00012547 0.01247814 -0.02226248
+v 0.00012547 0.01324951 -0.02422663
+v 0.00012547 0.02246436 -0.02679511
+v 0.00011446 0.01076448 -0.01755193
+v 0.02055205 0.00900239 -0.02679516
+v 0.01395899 0.00635563 -0.00190210
+v 0.01478257 0.00452190 -0.00190210
+v 0.00182328 0.01543189 -0.00190206
+v 0.00182548 0.02248976 -0.02679511
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+v 0.01201455 0.00940184 -0.00190209
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+v 0.00928175 0.01211086 -0.00190208
+v 0.01156532 0.01940198 -0.02679512
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+f 20 22 21
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+f 40 47 48
+f 40 48 41
+f 43 45 49
+f 45 50 49
+f 46 49 50
+f 46 50 47
+
diff --git a/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_30.obj b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8132ed0540f598cb781bb48e674e98df2ce331ef
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_30.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.02834120 0.00182035 -0.03536176
+v 0.02721919 0.00182034 -0.03165205
+v 0.02776048 0.00006230 -0.03346928
+v 0.02833210 0.00006231 -0.03536177
+v 0.02815167 0.00006233 -0.04052982
+v 0.02815470 0.00072424 -0.04052982
+v 0.02815925 0.00182037 -0.04052981
+v 0.02805312 0.00541057 -0.04052980
+v 0.02778778 0.00899813 -0.04052979
+v 0.02749969 0.01258039 -0.04052977
+v 0.02787268 0.00541055 -0.03536175
+v 0.02684317 0.00541054 -0.03165204
+v 0.02548159 0.00182033 -0.02968429
+v 0.02547250 0.00006229 -0.02968699
+v 0.02720555 0.00006230 -0.03165206
+v 0.02508131 0.01034044 -0.02984286
+v 0.02524355 0.00794697 -0.02976223
+v 0.02007625 0.00006233 -0.04052982
+v 0.02634584 0.01558281 -0.04052976
+v 0.02566051 0.01186020 -0.03231735
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+v 0.01681939 0.00006230 -0.03302035
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+v 0.01285294 0.00893191 -0.03168563
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+v 0.01868890 0.02353369 -0.04052973
+v 0.01589601 0.02219130 -0.03182806
+v 0.01285294 0.02205097 -0.02957938
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+f 45 52 55
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+f 50 55 52
+f 50 52 56
+f 50 56 51
+
diff --git a/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_31.obj b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ed4cc573048f5be1939c3b0332376abe5fb5f9c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_31.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.01219930 0.00702260 -0.02679850
+v -0.01417087 0.00006090 -0.02679853
+v -0.01219930 0.00725660 -0.02719781
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+v -0.02703612 0.00925587 -0.03923580
+v -0.02598440 0.01247855 -0.03923578
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diff --git a/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_32.obj b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70708b4fda5de6095ca5bef487067906f93b6a45
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_32.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_4.obj b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b166612f24625329603326e3ba083022c72d13e1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_4.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.00012528 0.01076788 -0.01755351
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+v -0.01149082 -0.00111160 -0.01957792
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+
diff --git a/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_5.obj b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8929e059f576b2af9391365a43755704c0d9295
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_5.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_6.obj b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db6c3ab3f2026819657697570f130cb5ff931c6b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_6.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_7.obj b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62b008695dee76420dbc388b5b1f89d4cd5b663b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_7.obj
@@ -0,0 +1,460 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_8.obj b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1def69ceae29a7149a2b606d89c963d171c7c850
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_8.obj
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diff --git a/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_9.obj b/dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mjcf/mesh/pepper_grinder_collision_9.obj
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index 0000000000000000000000000000000000000000..4e84e5323a2d6c2009412cd60cbb92e6fbe9025c
--- /dev/null
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