diff --git a/.gitattributes b/.gitattributes
index 62ab11b1e3a6ec5423cabe19bb5e7c7be6ada261..274c5891218c370d24fbcc91a0f71e4238f62bda 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4542,3 +4542,6 @@ dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/mjcf/mesh/bot
 dataset/kitchen_supplies/utensils/7f68352d1f515466998b0135f320fbf8/7f68352d1f515466998b0135f320fbf8.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/7f68352d1f515466998b0135f320fbf8/mesh/spatula.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/7f68352d1f515466998b0135f320fbf8/mesh/spatula_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/8696e7954c3f57b697c129b16affd6aa.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mesh/pepper_grinder.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mesh/pepper_grinder_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/8696e7954c3f57b697c129b16affd6aa.urdf b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/8696e7954c3f57b697c129b16affd6aa.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..498d03deef41c89cdb20e37b877fa66c6965a0f4
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/8696e7954c3f57b697c129b16affd6aa.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>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.5000" />
+         <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 pepper grinder with transparent chamber and black top and base</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>0.6</max_mass>
+         <generate_time>20260120023131</generate_time>
+         <gs_model>mesh/pepper_grinder_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.451369762420654</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>9</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/8696e7954c3f57b697c129b16affd6aa/8696e7954c3f57b697c129b16affd6aa.usd b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/8696e7954c3f57b697c129b16affd6aa.usd
new file mode 100644
index 0000000000000000000000000000000000000000..7064375c077ebb2d5219d5194565b3ccfccd8573
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/8696e7954c3f57b697c129b16affd6aa.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f9b6ea36e4a3609bf8c58092a5ad40ec311672ef84bf211010d933ce128381a
+size 976325
diff --git a/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mesh/material.mtl b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/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/8696e7954c3f57b697c129b16affd6aa/mesh/material_0.png b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f60ffb2cac1a42e74c55a904049bbcc94ae0d384
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:884e933a89dcf4294ceac27098324942fe75f8a91f7ee2c82a08dff6a50b01c8
+size 2361631
diff --git a/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mesh/pepper_grinder.glb b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mesh/pepper_grinder.glb
new file mode 100644
index 0000000000000000000000000000000000000000..48cd55dcebe97a212fc9bdad040f9fe52b75f819
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mesh/pepper_grinder.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da6bf40a99351d7e2efd68eff60afef69751e49580e000a5fb924c52dfe39aeb
+size 3032792
diff --git a/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mesh/pepper_grinder.obj b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mesh/pepper_grinder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c170e237a02dd7f9566afa2ea2f05d025949d91f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mesh/pepper_grinder.obj
@@ -0,0 +1,61472 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mesh/pepper_grinder_collision.obj b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mesh/pepper_grinder_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..742b0ad781fb07d4f1f12397b35fac5d785cc049
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mesh/pepper_grinder_collision.obj
@@ -0,0 +1,8642 @@
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diff --git a/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mesh/pepper_grinder_gs.ply b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mesh/pepper_grinder_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..a5b14ea28dbfaeae4293abe606fc414d5c16d291
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mesh/pepper_grinder_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0df195feed295f08fb0563ba855bfe7c620edc29affc44f10f8d241092dad999
+size 2357065
diff --git a/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/8696e7954c3f57b697c129b16affd6aa.xml b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/8696e7954c3f57b697c129b16affd6aa.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e389098a71c2eba9877e42fb2abc99dabc07dab6
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/8696e7954c3f57b697c129b16affd6aa.xml
@@ -0,0 +1,80 @@
+<?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" />
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f60ffb2cac1a42e74c55a904049bbcc94ae0d384
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:884e933a89dcf4294ceac27098324942fe75f8a91f7ee2c82a08dff6a50b01c8
+size 2361631
diff --git a/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder.obj b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31a024484fe397184f742a92835565b97eeaf3f7
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder.obj
@@ -0,0 +1,61472 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.053746 0.002575 -0.092321
+v -0.045456 0.004639 -0.092300
+v -0.049425 -0.000878 -0.092311
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+v -0.065576 0.002585 -0.092330
+v -0.065835 -0.004259 -0.092331
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diff --git a/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision.obj b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92620376dc9d8e2fba67f06ff42cfdead45de9bb
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision.obj
@@ -0,0 +1,8642 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_0.obj b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7afe8d55ee55d6cbc19fc910c04986fc7b14d1e9
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_0.obj
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diff --git a/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_1.obj b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3609675917b9a988ed9a79fbe89ca6578e87af7f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_1.obj
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diff --git a/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_10.obj b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d66935452fffdce9469d9033d07d4ee8f71f214c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_10.obj
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diff --git a/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_11.obj b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46eead4f9814436bd23658cd82cf6731fa11c7c7
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_11.obj
@@ -0,0 +1,397 @@
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diff --git a/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_12.obj b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ce6b8e42e91aca86698cc8399a2bf11379e977a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_12.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_13.obj b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1270f1388d84a2368afd549dc581dc4082aea869
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_13.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_14.obj b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c89a3a0beba0f10f50b56af3fa7936f08d63303c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_14.obj
@@ -0,0 +1,538 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_15.obj b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..828065f133b0e6098af177c0b8737b2c3ee2e4fe
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_15.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_16.obj b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15ad8a02ff9a765de124c04e67d040ddbe06990c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_16.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_17.obj b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7dc7e6f841717a8d4f3327112e184224fb6234c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_17.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_18.obj b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67665babafc34acbfc0139b67d8063e5f0417992
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_18.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_19.obj b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab46f615bfc4f63ad7b7a937a000fc12071539b7
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_19.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_2.obj b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad7b374ca4b0f84fe40206fb0ec2d771667232a2
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_2.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_20.obj b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1ba73f75b910d4bc1a4773bd016e51093e98b19
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_20.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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+f 30 41 32
+f 32 41 43
+f 32 43 33
+f 33 48 49
+f 33 49 34
+f 33 43 50
+f 33 50 51
+f 33 51 48
+f 34 49 35
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+f 35 52 53
+f 35 53 36
+f 38 54 39
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+f 39 56 40
+f 39 54 57
+f 39 57 55
+f 42 50 43
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+f 44 58 55
+f 44 55 59
+f 44 59 60
+f 44 60 61
+f 44 61 45
+f 45 61 47
+f 46 62 58
+f 47 61 50
+f 48 63 49
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+f 49 63 52
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+f 50 66 51
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+f 55 73 59
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+f 57 75 76
+f 57 76 70
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+f 58 77 68
+f 59 78 61
+f 59 61 60
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+f 59 79 65
+f 59 65 78
+f 61 78 65
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+f 64 66 80
+f 64 80 81
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+f 64 83 67
+f 65 79 66
+f 66 79 80
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+f 72 76 73
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+f 73 84 79
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+f 76 86 87
+f 76 87 84
+f 79 88 89
+f 79 89 81
+f 79 81 80
+f 79 84 87
+f 79 87 86
+f 79 86 88
+
diff --git a/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_21.obj b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bdcc5bf28de10871e261ad4ad4ccfafa5dd1bcb
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_21.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.07113426 -0.01388247 -0.09385123
+v -0.07113426 -0.01916930 -0.09629760
+v -0.07113426 -0.02806407 -0.09385128
+v -0.05042625 -0.02331425 -0.09385127
+v -0.05042625 -0.02628239 -0.09629763
+v -0.07113426 -0.02831609 -0.09629763
+v -0.07016120 -0.02869027 -0.09385129
+v -0.05042625 -0.03357579 -0.09385130
+v -0.05042625 -0.03368629 -0.09629765
+v -0.07059705 -0.02865148 -0.09629764
+v -0.07035378 -0.02880076 -0.09629764
+v -0.06975170 -0.02889383 -0.09385129
+v -0.05343261 -0.03351957 -0.09385130
+v -0.05343261 -0.03362231 -0.09629765
+v -0.06914556 -0.02939401 -0.09629764
+v -0.06827589 -0.02961890 -0.09385129
+v -0.05618557 -0.03320938 -0.09385130
+v -0.05492667 -0.03345752 -0.09629765
+v -0.06820088 -0.02985154 -0.09629764
+v -0.06726228 -0.03006868 -0.09385129
+v -0.05712417 -0.03310081 -0.09385130
+v -0.05712417 -0.03320937 -0.09629765
+v -0.06600338 -0.03077824 -0.09629764
+v -0.06450932 -0.03122803 -0.09385129
+v -0.06024203 -0.03250563 -0.09385130
+v -0.06059882 -0.03253276 -0.09629765
+v -0.06438161 -0.03141995 -0.09629765
+v -0.06383831 -0.03146261 -0.09385130
+v -0.06161851 -0.03217023 -0.09385130
+v -0.06230574 -0.03211013 -0.09629765
+v -0.06294431 -0.03190462 -0.09629765
+v -0.06208680 -0.03205197 -0.09385130
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 12
+f 1 12 16
+f 1 16 20
+f 1 20 24
+f 1 24 28
+f 1 28 32
+f 1 32 29
+f 1 29 25
+f 1 25 21
+f 1 21 17
+f 1 17 13
+f 1 13 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 14
+f 2 14 18
+f 2 18 22
+f 2 22 26
+f 2 26 30
+f 2 30 31
+f 2 31 27
+f 2 27 23
+f 2 23 19
+f 2 19 15
+f 2 15 11
+f 2 11 10
+f 2 10 6
+f 3 6 7
+f 4 8 9
+f 4 9 5
+f 6 10 7
+f 7 11 12
+f 7 10 11
+f 8 13 9
+f 9 13 14
+f 11 15 16
+f 11 16 12
+f 13 17 18
+f 13 18 14
+f 15 19 16
+f 16 19 20
+f 17 21 22
+f 17 22 18
+f 19 23 20
+f 20 23 24
+f 21 25 22
+f 22 25 26
+f 23 27 24
+f 24 27 28
+f 25 29 26
+f 26 29 30
+f 27 31 28
+f 28 31 32
+f 29 32 30
+f 30 32 31
+
diff --git a/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_22.obj b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e607e5e5b310fc407fd70b25e2801ac871f75078
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_22.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.08134204 0.01909468 -0.09847989
+v -0.08167136 0.01863777 -0.09847989
+v -0.08141354 0.01825896 -0.09385111
+v -0.08107123 0.01909467 -0.09614465
+v -0.07221230 0.01909468 -0.09847989
+v -0.08168219 0.01861908 -0.09847989
+v -0.08080042 0.01909466 -0.09385111
+v -0.08317060 0.01604575 -0.09847990
+v -0.08268096 0.01604573 -0.09385112
+v -0.06519491 0.01909466 -0.09385111
+v -0.06558922 0.01709545 -0.09385112
+v -0.08033245 0.00175231 -0.09847995
+v -0.08447268 0.01338580 -0.09847991
+v -0.08312943 0.01512001 -0.09385112
+v -0.07617488 0.00174210 -0.09385117
+v -0.08041478 0.00174212 -0.09847995
+v -0.08448351 0.01221546 -0.09385114
+v -0.08427336 0.01274372 -0.09385113
+v -0.08516381 0.01159890 -0.09847992
+v -0.08494931 0.01102986 -0.09385114
+v -0.08700752 0.00174210 -0.09385117
+v -0.08705518 0.00174211 -0.09479496
+v -0.08732817 0.00175231 -0.09847995
+v -0.08517030 0.01158192 -0.09847992
+v -0.08506848 0.01066807 -0.09385114
+v -0.08700752 0.00175229 -0.09385117
+v -0.08688403 0.00529892 -0.09847994
+v -0.08603041 0.00889988 -0.09847993
+v -0.08560794 0.00897800 -0.09385115
+v -0.08665871 0.00441734 -0.09385116
+v -0.08653305 0.00532608 -0.09385116
+v -0.08687970 0.00532610 -0.09847994
+v -0.08603908 0.00887270 -0.09847993
+v -0.08587009 0.00799113 -0.09385115
+f 1 2 3
+f 1 3 4
+f 1 4 7
+f 1 7 10
+f 1 10 5
+f 1 5 12
+f 1 12 16
+f 1 16 23
+f 1 23 27
+f 1 27 32
+f 1 32 33
+f 1 33 28
+f 1 28 24
+f 1 24 19
+f 1 19 13
+f 1 13 8
+f 1 8 6
+f 1 6 2
+f 2 6 3
+f 3 7 4
+f 3 6 8
+f 3 8 9
+f 3 9 14
+f 3 14 18
+f 3 18 17
+f 3 17 20
+f 3 20 25
+f 3 25 29
+f 3 29 34
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+f 3 31 30
+f 3 30 26
+f 3 26 21
+f 3 21 15
+f 3 15 11
+f 3 11 10
+f 3 10 7
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+f 5 11 12
+f 8 13 9
+f 9 13 14
+f 11 15 12
+f 12 15 16
+f 13 17 18
+f 13 18 14
+f 13 19 20
+f 13 20 17
+f 15 21 22
+f 15 22 16
+f 16 22 23
+f 19 24 20
+f 20 24 25
+f 21 26 23
+f 21 23 22
+f 23 26 27
+f 24 28 25
+f 25 28 29
+f 26 30 27
+f 27 30 31
+f 27 31 32
+f 28 33 29
+f 29 33 34
+f 31 34 33
+f 31 33 32
+
diff --git a/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_23.obj b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6c9bcf2c8cd3136650a9de8c55827d83f115842
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_23.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v -0.01160751 -0.00012560 -0.10593507
+v -0.01161099 -0.00182284 -0.10593508
+v -0.01185472 -0.00012559 -0.10964977
+v -0.01188258 -0.00012561 -0.10222316
+v -0.01186517 -0.00182283 -0.10964978
+v -0.01188606 -0.00182285 -0.10222317
+v -0.01211238 -0.00539647 -0.10593509
+v -0.01232826 -0.00539646 -0.10964979
+v -0.01343899 -0.00012558 -0.11248985
+v -0.01220814 -0.00012563 -0.09850985
+v -0.01344770 -0.00182282 -0.11248428
+v -0.01366531 -0.00539645 -0.11239919
+v -0.01221336 -0.00182287 -0.09849731
+v -0.01271301 -0.00539650 -0.09849732
+v -0.01239268 -0.00539648 -0.10222318
+v -0.01303161 -0.00897010 -0.10593510
+v -0.01320919 -0.00897009 -0.10964980
+v -0.01446267 -0.01119710 -0.11173384
+v -0.01408837 -0.00897008 -0.11208814
+v -0.01628197 -0.00012558 -0.11248985
+v -0.01650481 -0.00897008 -0.11268796
+v -0.01220988 -0.00012563 -0.09849730
+v -0.01638120 -0.01244931 -0.11234761
+v -0.01367750 -0.00896050 -0.09849733
+v -0.01332931 -0.00897011 -0.10222319
+v -0.01428509 -0.01156316 -0.10222320
+v -0.01413015 -0.01189643 -0.10593511
+v -0.01421197 -0.01173074 -0.10964981
+v -0.01509116 -0.01351660 -0.10964982
+v -0.01824577 -0.01804768 -0.11161947
+v -0.01765732 -0.01611734 -0.11205329
+v -0.01737355 -0.00012558 -0.11097634
+v -0.02388820 -0.01969097 -0.11274798
+v -0.02523222 -0.01980656 -0.11244528
+v -0.02711593 -0.01980656 -0.11195984
+v -0.02019738 -0.01611734 -0.11274239
+v -0.01946792 -0.00012563 -0.09849730
+v -0.01368098 -0.00897206 -0.09849733
+v -0.01446964 -0.01116825 -0.09850989
+v -0.01514513 -0.01335094 -0.10222321
+v -0.01498148 -0.01368228 -0.10593512
+v -0.01662320 -0.01611735 -0.10964983
+v -0.01803511 -0.01832510 -0.10964984
+v -0.01924159 -0.01980657 -0.10964984
+v -0.02056472 -0.01980656 -0.11209794
+v -0.02035406 -0.01941934 -0.11215234
+v -0.01817091 -0.00012559 -0.10981298
+v -0.02389516 -0.01980656 -0.11272985
+v -0.02832763 -0.01980657 -0.10964984
+v -0.02939136 -0.01980469 -0.09849737
+v -0.02878725 -0.01980658 -0.10593514
+v -0.01446964 -0.01116247 -0.09849734
+v -0.01534011 -0.01295217 -0.09849735
+v -0.01678685 -0.01611737 -0.10222322
+v -0.01643691 -0.01611736 -0.10593513
+v -0.01796025 -0.01842336 -0.10593514
+v -0.01908316 -0.01980658 -0.10593514
+v -0.02846168 -0.01980657 -0.10860782
+v -0.02938265 -0.01980661 -0.09850992
+v -0.02937743 -0.01980661 -0.09849737
+v -0.01738051 -0.01638710 -0.09849736
+v -0.01828581 -0.01798800 -0.09984208
+v -0.01814653 -0.01817293 -0.10222323
+v -0.01915977 -0.01980658 -0.10520001
+v -0.02000065 -0.01980661 -0.09849737
+v -0.01743970 -0.01647572 -0.09849736
+v -0.01956193 -0.01929224 -0.09849737
+v -0.01961067 -0.01935196 -0.09849737
+v -0.01962808 -0.01938471 -0.09856572
+v -0.01962634 -0.01980660 -0.10124399
+v -0.01952189 -0.01980660 -0.10203770
+v -0.01949751 -0.01980659 -0.10222323
+f 1 2 3
+f 1 3 9
+f 1 9 20
+f 1 20 32
+f 1 32 47
+f 1 47 37
+f 1 37 22
+f 1 22 10
+f 1 10 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 5 9
+f 4 10 6
+f 5 11 9
+f 5 8 12
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+f 6 10 13
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+f 8 17 18
+f 8 18 19
+f 8 19 12
+f 9 11 21
+f 9 21 20
+f 10 22 13
+f 11 12 21
+f 12 19 23
+f 12 23 21
+f 13 22 37
+f 13 37 50
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+f 17 28 18
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+f 18 23 19
+f 20 21 33
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+f 20 34 35
+f 20 35 32
+f 21 23 36
+f 21 36 33
+f 23 31 36
+f 24 38 25
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+f 26 39 40
+f 26 40 41
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+f 29 42 30
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+f 31 46 36
+f 32 35 47
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+f 34 49 35
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+f 40 53 54
+f 40 54 41
+f 41 54 55
+f 41 55 42
+f 42 55 43
+f 43 55 56
+f 43 56 57
+f 43 57 44
+f 45 48 46
+f 47 49 58
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+f 50 51 59
+f 50 59 60
+f 53 61 54
+f 54 61 62
+f 54 62 63
+f 54 63 56
+f 54 56 55
+f 56 64 57
+f 56 63 64
+f 61 66 62
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+f 62 69 70
+f 62 70 71
+f 62 71 72
+f 62 72 63
+f 63 72 64
+f 65 70 69
+f 65 69 68
+
diff --git a/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_24.obj b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c065d77fdde0c24e485cbde51691071bf0bb8477
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_24.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
+v -0.02758110 0.02319436 -0.11268882
+v -0.03153722 0.02370845 -0.11223615
+v -0.03153722 0.02696439 -0.11244021
+v -0.03153722 0.02734722 -0.11242908
+v -0.03105485 0.02702455 -0.11244021
+v -0.02758110 0.02590156 -0.11215080
+v -0.02410388 0.02302664 -0.11218607
+v -0.02019634 0.01604807 -0.11268143
+v -0.01866074 0.01107119 -0.11248108
+v -0.03153722 0.02349698 -0.11215638
+v -0.01969662 0.01107119 -0.11222877
+v -0.03153722 0.02791601 -0.11223429
+v -0.02967889 0.02838817 -0.11076867
+v -0.02547811 0.02518329 -0.11171669
+v -0.02173368 0.02172317 -0.11178906
+v -0.02038027 0.01932770 -0.11211558
+v -0.01766651 0.01604807 -0.11204138
+v -0.01637556 0.01238742 -0.11235678
+v -0.01642415 0.01107119 -0.11247552
+v -0.03153722 0.02227371 -0.10964815
+v -0.02100492 0.01107118 -0.10964819
+v -0.03153722 0.02919214 -0.11064065
+v -0.03153722 0.02953668 -0.10954979
+v -0.03105485 0.02931609 -0.10957762
+v -0.02929716 0.02863428 -0.10829381
+v -0.02787087 0.02741831 -0.10957763
+v -0.02512414 0.02547131 -0.10964814
+v -0.02327795 0.02386887 -0.10964814
+v -0.02138838 0.02208047 -0.10964815
+v -0.01826860 0.01794220 -0.11159612
+v -0.01445823 0.01113864 -0.11174272
+v -0.01550799 0.01107119 -0.11226032
+v -0.02736941 0.01107112 -0.09373607
+v -0.03153722 0.01604982 -0.09373605
+v -0.03153722 0.02955673 -0.10920101
+v -0.02929716 0.02863427 -0.10661671
+v -0.02497492 0.02559162 -0.10593586
+v -0.03153722 0.02969527 -0.10568911
+v -0.03090910 0.02940176 -0.10560191
+v -0.02312873 0.02399829 -0.10593586
+v -0.02125998 0.02221172 -0.10593587
+v -0.01941379 0.02014623 -0.10593588
+v -0.01954046 0.02000039 -0.10964816
+v -0.01806385 0.01821382 -0.10964816
+v -0.01664104 0.01604806 -0.10964817
+v -0.01508115 0.01345935 -0.10964818
+v -0.01420664 0.01167278 -0.10964819
+v -0.01398627 0.01107118 -0.10964819
+v -0.01444609 0.01107119 -0.11175199
+v -0.01484170 0.01107112 -0.09373607
+v -0.03153722 0.02865427 -0.09373600
+v -0.02943597 0.02855040 -0.10414001
+v -0.02787087 0.02761155 -0.10560192
+v -0.02518487 0.02542207 -0.10222360
+v -0.03153722 0.02944733 -0.10222358
+v -0.03145914 0.02941087 -0.10222358
+v -0.02333868 0.02381416 -0.10222360
+v -0.02143870 0.02202759 -0.10222361
+v -0.01959251 0.01994386 -0.10222362
+v -0.01810897 0.01815546 -0.10222362
+v -0.01795628 0.01835965 -0.10593588
+v -0.01641894 0.01604805 -0.10593589
+v -0.01496663 0.01364894 -0.10593590
+v -0.01411120 0.01186236 -0.10593591
+v -0.01381102 0.01107117 -0.10593591
+v -0.01448079 0.01107114 -0.09742794
+v -0.01442873 0.01118417 -0.09850952
+v -0.01511585 0.01334995 -0.10222364
+v -0.01530151 0.01297256 -0.09850951
+v -0.01544553 0.01229255 -0.09373606
+v -0.03090216 0.02831154 -0.09373601
+v -0.03153722 0.02937257 -0.10139615
+v -0.03037468 0.02801803 -0.09373601
+v -0.02743188 0.02608015 -0.09373601
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+v -0.02758110 0.02710473 -0.10222359
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+v -0.02061104 0.01988001 -0.09373604
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+v -0.01912055 0.01813355 -0.09373604
+v -0.01859481 0.01750642 -0.09373605
+v -0.01732989 0.01636705 -0.09837036
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+
diff --git a/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_25.obj b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..308d94469aa3d3c51a25cb5bd804c18e6cfd6ee1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_25.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.05042625 -0.03368747 -0.09629765
+v -0.05042625 -0.02628424 -0.09629763
+v -0.05343261 -0.03362356 -0.09629765
+v -0.05042625 -0.03435180 -0.10593505
+v -0.05042625 -0.02757132 -0.10964994
+v -0.07113426 -0.01916787 -0.09629760
+v -0.05343261 -0.03428789 -0.10593505
+v -0.05492667 -0.03345709 -0.09629765
+v -0.05712417 -0.03389848 -0.10593504
+v -0.05343261 -0.03411844 -0.10964997
+v -0.05042625 -0.03431910 -0.10662714
+v -0.05042625 -0.02807516 -0.11158196
+v -0.07113426 -0.02121296 -0.10964992
+v -0.07113426 -0.02831600 -0.09629763
+v -0.05712417 -0.03374390 -0.10964996
+v -0.05712417 -0.03320888 -0.09629765
+v -0.06081573 -0.03319398 -0.10593504
+v -0.06081573 -0.03305426 -0.10964996
+v -0.05712417 -0.03282090 -0.11217520
+v -0.05343261 -0.03300520 -0.11231458
+v -0.05042625 -0.03396684 -0.11014593
+v -0.05042625 -0.03417344 -0.10964997
+v -0.05042625 -0.02819704 -0.11202606
+v -0.07113426 -0.02336064 -0.11239884
+v -0.07109980 -0.02833830 -0.09629763
+v -0.07113426 -0.02832344 -0.09635760
+v -0.06279835 -0.03224273 -0.11156415
+v -0.06081573 -0.03248054 -0.11183483
+v -0.06059882 -0.03253262 -0.09629765
+v -0.06230574 -0.03211051 -0.09629765
+v -0.06352612 -0.03248056 -0.10593504
+v -0.06331732 -0.03241218 -0.10964996
+v -0.06422145 -0.03051120 -0.11229189
+v -0.06081573 -0.03041162 -0.11271006
+v -0.05042625 -0.03303492 -0.11233566
+v -0.05712417 -0.03041162 -0.11284297
+v -0.05042625 -0.02999991 -0.11270520
+v -0.07113426 -0.02380207 -0.11251716
+v -0.05042625 -0.03041162 -0.11285431
+v -0.07059705 -0.02865191 -0.09629764
+v -0.07113426 -0.02893724 -0.10222335
+v -0.06516411 -0.03175078 -0.10964996
+v -0.06820088 -0.03050229 -0.10964995
+v -0.07047542 -0.02886587 -0.11176998
+v -0.06820088 -0.02937716 -0.11215736
+v -0.06294431 -0.03190540 -0.09629765
+v -0.06537291 -0.03186821 -0.10593504
+v -0.07113426 -0.02732607 -0.11230322
+v -0.07113426 -0.02686829 -0.11239075
+v -0.06820088 -0.02683857 -0.11264684
+v -0.05042625 -0.03255188 -0.11243291
+v -0.07035378 -0.02880202 -0.09629764
+v -0.07113426 -0.02898183 -0.10267556
+v -0.07087478 -0.02909479 -0.10222335
+v -0.06820088 -0.03072079 -0.10593503
+v -0.07099844 -0.02916463 -0.10964995
+v -0.07113426 -0.02907991 -0.10964995
+v -0.07113426 -0.02786114 -0.11205524
+v -0.06438161 -0.03142087 -0.09629765
+v -0.06600338 -0.03077879 -0.09629764
+v -0.06914556 -0.02939505 -0.09629764
+v -0.07113426 -0.02924341 -0.10546013
+v -0.06820088 -0.02985283 -0.09629764
+v -0.07113426 -0.02928354 -0.10593503
+v -0.07113426 -0.02924341 -0.10674707
+f 1 2 6
+f 1 6 14
+f 1 14 25
+f 1 25 40
+f 1 40 52
+f 1 52 61
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+f 1 63 60
+f 1 60 59
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+f 1 29 16
+f 1 16 8
+f 1 8 3
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+f 1 7 4
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+f 1 11 22
+f 1 22 21
+f 1 21 35
+f 1 35 51
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+f 1 37 23
+f 1 23 12
+f 1 12 5
+f 1 5 2
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+f 55 65 56
+f 56 65 57
+
diff --git a/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_26.obj b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcf8f862ae0bbbb8ebe1833a20bf8a17af8856f2
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_26.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.04429163 0.01271724 0.09847305
+v 0.04375192 0.01271727 0.08856082
+v 0.03465399 0.01271724 0.09847305
+v 0.04003154 -0.00140853 0.09847299
+v 0.03569050 0.01271727 0.08856082
+v 0.03936180 -0.00140850 0.08856076
+v 0.03213817 0.00866175 0.09847303
+v 0.03465522 0.01271724 0.09845074
+v 0.03176160 -0.00140853 0.09847299
+v 0.03470674 0.01271724 0.09786081
+v 0.03556047 0.01247115 0.08856082
+v 0.03266808 -0.00140850 0.08856076
+v 0.03176160 0.00752793 0.09847303
+v 0.03406766 0.00878761 0.08856080
+v 0.03176160 -0.00140852 0.09622198
+v 0.03176160 0.00006683 0.09619773
+v 0.03266440 0.00175100 0.08856078
+v 0.03343840 0.00670248 0.08856079
+v 0.03310598 0.00502525 0.08856079
+v 0.03176160 0.00596270 0.09707681
+v 0.03176160 0.00175098 0.09618221
+v 0.03176160 0.00532527 0.09683619
+v 0.03291586 0.00362457 0.08856078
+f 1 2 5
+f 1 5 10
+f 1 10 8
+f 1 8 3
+f 1 3 7
+f 1 7 13
+f 1 13 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 12
+f 2 12 17
+f 2 17 23
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+f 2 14 11
+f 2 11 5
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+f 4 15 12
+f 4 12 6
+f 5 11 7
+f 5 7 10
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+f 12 16 17
+f 13 18 19
+f 13 19 20
+f 13 14 18
+f 16 21 17
+f 17 21 22
+f 17 22 20
+f 17 20 23
+f 19 23 20
+
diff --git a/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_27.obj b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5f1c2c3b9f8d4c0854f5bed3927734cc2e27197
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_27.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.07525685 0.01226651 0.10045873
+v 0.06031715 0.01807458 0.10045875
+v 0.07525685 0.01478129 0.08856082
+v 0.07525685 0.02478538 0.10045877
+v 0.06031715 0.02096818 0.08856085
+v 0.06031715 0.02871868 0.10045879
+v 0.07525685 0.02293161 0.08856085
+v 0.07525685 0.02476281 0.09953521
+v 0.07447886 0.02526898 0.10045877
+v 0.06031715 0.02721149 0.08856087
+v 0.06065642 0.02872513 0.10045879
+v 0.06031715 0.02867194 0.09818193
+v 0.07510768 0.02301704 0.08856085
+v 0.07379885 0.02490470 0.09314021
+v 0.07525685 0.02361509 0.09151787
+v 0.07525685 0.02473219 0.09832167
+v 0.07443353 0.02524320 0.09832167
+v 0.07310422 0.02589122 0.10045878
+v 0.06031715 0.02856878 0.09598426
+v 0.06104542 0.02722761 0.08856087
+v 0.06113462 0.02873319 0.10045879
+v 0.06031715 0.02861392 0.09640353
+v 0.06126624 0.02867355 0.09812719
+v 0.07246955 0.02446624 0.08856086
+v 0.07172812 0.02478058 0.08856086
+v 0.07076734 0.02517875 0.08856086
+v 0.07135375 0.02541571 0.09089479
+v 0.07238911 0.02571875 0.09447022
+v 0.07423756 0.02513198 0.09561505
+v 0.07525685 0.02432920 0.09476254
+v 0.07525685 0.02421797 0.09421284
+v 0.07212296 0.02626682 0.09832168
+v 0.07212296 0.02632646 0.10045878
+v 0.06264380 0.02853331 0.09675873
+v 0.06126624 0.02831247 0.09479400
+v 0.06473793 0.02680365 0.08856087
+v 0.06473793 0.02791108 0.09460766
+v 0.06225627 0.02867354 0.10045879
+v 0.06319512 0.02859618 0.09923476
+v 0.07029352 0.02533672 0.08856086
+v 0.06843045 0.02711797 0.09460766
+v 0.06843045 0.02754193 0.09832168
+v 0.06843045 0.02760478 0.10045878
+v 0.06999812 0.02706315 0.10045878
+v 0.06455075 0.02834309 0.09812718
+v 0.06858985 0.02589932 0.08856087
+v 0.06325654 0.02860262 0.10045879
+v 0.06492658 0.02834953 0.10045878
+v 0.06656152 0.02800940 0.10045878
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 31
+f 1 31 30
+f 1 30 16
+f 1 16 8
+f 1 8 4
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+f 1 9 18
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+f 1 33 44
+f 1 44 43
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+f 1 38 21
+f 1 21 11
+f 1 11 6
+f 1 6 2
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+f 2 22 19
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+f 2 10 5
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+f 3 13 7
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+f 14 24 25
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+f 38 47 39
+f 39 47 48
+f 39 48 45
+f 40 46 41
+f 42 45 49
+f 42 49 43
+f 45 48 49
+
diff --git a/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_28.obj b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a116ab3033f621602f6163ca0f08c7eb981f62b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_28.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.06031715 0.02867653 0.09847311
+v 0.06031715 0.02867185 0.09818203
+v 0.05789546 0.02867185 0.09832175
+v 0.05787537 0.02867341 0.09847311
+v 0.06031715 0.02067033 0.09847308
+v 0.06031715 0.02861406 0.09640354
+v 0.05863403 0.02860468 0.09615612
+v 0.05604905 0.02849376 0.09832174
+v 0.05602895 0.02849688 0.09847310
+v 0.04429229 0.01271724 0.09847305
+v 0.04375470 0.01271727 0.08856082
+v 0.06031715 0.02096874 0.08856085
+v 0.06031715 0.02856875 0.09598437
+v 0.06017899 0.02860468 0.09615612
+v 0.06031715 0.02721123 0.08856087
+v 0.05967154 0.02719717 0.08856087
+v 0.05735033 0.02714094 0.08856087
+v 0.05738298 0.02824538 0.09479385
+v 0.05365750 0.02758614 0.09460757
+v 0.05365750 0.02801729 0.09832174
+v 0.05365750 0.02802198 0.09847310
+v 0.03465326 0.01271724 0.09847305
+v 0.03569077 0.01271727 0.08856082
+v 0.05597871 0.02690192 0.08856087
+v 0.05365750 0.02648169 0.08856087
+v 0.05041435 0.02547408 0.08856086
+v 0.04996468 0.02643793 0.09460757
+v 0.04996468 0.02690033 0.09832174
+v 0.05350677 0.02797824 0.09847310
+v 0.03515066 0.01359832 0.09847305
+v 0.03641175 0.01523862 0.09460753
+v 0.03470853 0.01271724 0.09786081
+v 0.03674335 0.01469500 0.08856082
+v 0.04864832 0.02475860 0.08856086
+v 0.04787961 0.02511008 0.09211106
+v 0.04744501 0.02535221 0.09460756
+v 0.04996468 0.02690502 0.09847310
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+v 0.03617059 0.01540420 0.09847306
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+v 0.03764521 0.01702576 0.09460753
+v 0.03815266 0.01648214 0.08856083
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+v 0.03624595 0.01552293 0.09847306
+v 0.03737139 0.01723821 0.09847306
+v 0.03741911 0.01731007 0.09847306
+v 0.03919017 0.01939403 0.09847307
+v 0.03927055 0.01947682 0.09832171
+v 0.03949162 0.01920501 0.09460754
+v 0.03999907 0.01860515 0.08856084
+v 0.04379489 0.02187481 0.08856085
+v 0.04304377 0.02247779 0.09460755
+v 0.04273478 0.02273710 0.09832172
+v 0.04505849 0.02445395 0.09847309
+v 0.03926553 0.01947994 0.09847307
+v 0.04088836 0.02126240 0.09832172
+v 0.04119736 0.02099059 0.09460755
+v 0.04194848 0.02039229 0.08856084
+v 0.04273226 0.02274023 0.09847308
+v 0.04082053 0.02119366 0.09847308
+v 0.04088585 0.02126552 0.09847308
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 21
+f 1 21 29
+f 1 29 37
+f 1 37 47
+f 1 47 49
+f 1 49 48
+f 1 48 60
+f 1 60 65
+f 1 65 67
+f 1 67 66
+f 1 66 61
+f 1 61 53
+f 1 53 52
+f 1 52 51
+f 1 51 50
+f 1 50 39
+f 1 39 30
+f 1 30 22
+f 1 22 10
+f 1 10 5
+f 1 5 12
+f 1 12 15
+f 1 15 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 5 10 11
+f 5 11 12
+f 6 13 14
+f 6 14 7
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+f 13 15 14
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+f 19 26 27
+f 19 27 28
+f 19 28 20
+f 19 24 25
+f 20 28 29
+f 20 29 21
+f 22 30 31
+f 22 31 32
+f 23 32 33
+f 26 34 27
+f 27 34 35
+f 27 35 36
+f 27 36 28
+f 28 37 29
+f 28 36 38
+f 28 38 37
+f 30 39 31
+f 31 39 40
+f 31 40 41
+f 31 41 42
+f 31 42 33
+f 31 33 32
+f 33 42 43
+f 34 44 35
+f 35 44 45
+f 35 45 36
+f 36 45 46
+f 36 46 38
+f 37 38 47
+f 38 46 48
+f 38 48 49
+f 38 49 47
+f 39 50 40
+f 40 50 51
+f 40 51 41
+f 41 51 52
+f 41 52 53
+f 41 53 54
+f 41 54 55
+f 41 55 42
+f 42 55 43
+f 43 55 56
+f 44 57 45
+f 45 57 58
+f 45 58 46
+f 46 58 59
+f 46 59 60
+f 46 60 48
+f 53 61 54
+f 54 61 62
+f 54 62 55
+f 55 62 63
+f 55 63 56
+f 56 63 64
+f 57 64 58
+f 58 64 63
+f 58 63 62
+f 58 62 59
+f 59 65 60
+f 59 62 67
+f 59 67 65
+f 61 66 62
+f 62 66 67
+
diff --git a/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_29.obj b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06ed9ae059b22fd2c1c213352f7db5e8cd614cab
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_29.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.02737074 0.01107112 -0.09373607
+v -0.02375098 -0.00012565 -0.09373611
+v -0.01484281 0.01107112 -0.09373607
+v -0.02100181 0.01107118 -0.10964872
+v -0.01816929 -0.00012559 -0.10981189
+v -0.01259841 -0.00012565 -0.09373611
+v -0.01465295 0.01068752 -0.09373607
+v -0.01448006 0.01107114 -0.09742875
+v -0.01969592 0.01107119 -0.11222914
+v -0.01737433 -0.00012558 -0.11097605
+v -0.01259223 0.00175180 -0.09373610
+v -0.01188217 -0.00012561 -0.10222261
+v -0.01437047 0.01107114 -0.09869301
+v -0.01442913 0.01005403 -0.09373607
+v -0.01326524 0.00889888 -0.10222258
+v -0.01866016 0.01107119 -0.11247941
+v -0.01628146 -0.00012558 -0.11248872
+v -0.01187908 0.00175184 -0.10222260
+v -0.01305686 0.00532587 -0.09373609
+v -0.01160586 -0.00012560 -0.10593568
+v -0.01160123 0.00175185 -0.10593567
+v -0.01406946 0.01107116 -0.10222257
+v -0.01408336 0.00906982 -0.09373608
+v -0.01235452 0.00532591 -0.10222259
+v -0.01298739 0.00889889 -0.10593565
+v -0.01401698 0.01107116 -0.10290846
+v -0.01330229 0.00625199 -0.09373609
+v -0.01642347 0.01107119 -0.11247570
+v -0.01650373 0.00889891 -0.11267406
+v -0.01343967 -0.00012558 -0.11248872
+v -0.01185439 -0.00012559 -0.10964876
+v -0.01184358 0.00175186 -0.10964875
+v -0.01228814 0.00532593 -0.10964874
+v -0.01207821 0.00532592 -0.10593566
+v -0.01381168 0.01107117 -0.10593564
+v -0.01318343 0.00889890 -0.10964873
+v -0.01398611 0.01107118 -0.10964872
+v -0.01550811 0.01107119 -0.11226066
+v -0.01363880 0.00532594 -0.11241825
+v -0.01343041 0.00175187 -0.11249426
+v -0.01407564 0.00889891 -0.11210310
+v -0.01444610 0.01107119 -0.11175274
+f 1 2 6
+f 1 6 11
+f 1 11 19
+f 1 19 27
+f 1 27 23
+f 1 23 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 13
+f 1 13 22
+f 1 22 26
+f 1 26 35
+f 1 35 37
+f 1 37 42
+f 1 42 38
+f 1 38 28
+f 1 28 16
+f 1 16 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 17
+f 2 17 30
+f 2 30 31
+f 2 31 20
+f 2 20 12
+f 2 12 6
+f 3 7 8
+f 4 9 5
+f 5 9 10
+f 6 12 11
+f 7 13 8
+f 7 14 15
+f 7 15 13
+f 9 16 17
+f 9 17 10
+f 11 18 19
+f 11 12 18
+f 12 20 21
+f 12 21 18
+f 13 15 22
+f 14 23 15
+f 15 24 25
+f 15 25 26
+f 15 26 22
+f 15 23 27
+f 15 27 19
+f 15 19 24
+f 16 28 29
+f 16 29 17
+f 17 29 30
+f 18 21 24
+f 18 24 19
+f 20 31 32
+f 20 32 21
+f 21 32 33
+f 21 33 34
+f 21 34 24
+f 24 34 25
+f 25 35 26
+f 25 34 36
+f 25 36 37
+f 25 37 35
+f 28 38 39
+f 28 39 29
+f 29 40 30
+f 29 39 40
+f 30 40 31
+f 31 40 32
+f 32 40 39
+f 32 39 33
+f 33 39 41
+f 33 41 42
+f 33 42 36
+f 33 36 34
+f 36 42 37
+f 38 42 41
+f 38 41 39
+
diff --git a/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_3.obj b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66cf37a0008374073a3dcc3061ecbb7a8e191af8
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_3.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.04973902 0.01211702 0.06684381
+v -0.05188688 0.01199056 0.08200588
+v -0.04960999 0.01196194 0.08200588
+v -0.04883311 0.01200731 0.06684381
+v -0.05712883 0.01179980 0.06684381
+v -0.05343259 0.01199056 0.08200588
+v -0.04576858 0.01014688 0.08200588
+v -0.04686536 0.01110809 0.07904648
+v -0.04425513 0.01062157 0.06684381
+v -0.04604815 0.01116775 0.06684381
+v -0.06100789 0.00841535 0.06684380
+v -0.06020412 0.00786196 0.08200587
+v -0.05913422 0.00861088 0.08200587
+v -0.04487610 0.01029239 0.07603811
+v -0.04265298 0.00813386 0.08200587
+v -0.04026049 0.00859662 0.06684380
+v -0.06216918 0.00633554 0.06684379
+v -0.06433586 0.00206617 0.08200585
+v -0.04183577 0.00722752 0.08200587
+v -0.03999974 0.00473032 0.08200586
+v -0.03877124 0.00532426 0.06684379
+v -0.06310467 0.00417703 0.06684379
+v -0.06373370 0.00174900 0.06684378
+v -0.06466381 -0.00083411 0.08200584
+v -0.03911264 0.00174895 0.08200585
+v -0.03734382 0.00174900 0.06684378
+v -0.06373908 -0.00534666 0.06684375
+v -0.06476059 -0.00182154 0.08200583
+v -0.03937608 -0.00204574 0.08200583
+v -0.03730349 -0.00182149 0.06684376
+v -0.06373370 -0.00468127 0.08200582
+v -0.06411005 -0.00373439 0.08200583
+v -0.06015304 -0.00910081 0.06684374
+v -0.04000243 -0.00539441 0.07881490
+v -0.03778737 -0.00476470 0.06684375
+v -0.04147287 -0.00642239 0.08200582
+v -0.04048899 -0.00720470 0.07793776
+v -0.06017724 -0.00787015 0.08200581
+v -0.05785196 -0.01017172 0.06684373
+v -0.05574711 -0.01097792 0.07846017
+v -0.03907770 -0.00724997 0.06684374
+v -0.04280889 -0.00815636 0.08200581
+v -0.04235459 -0.00974717 0.06684373
+v -0.04570406 -0.01224914 0.06684373
+v -0.05704550 -0.00960650 0.08200580
+v -0.05551055 -0.01095641 0.06684373
+v -0.05342990 -0.01140720 0.06684373
+v -0.05342990 -0.01146447 0.07603803
+v -0.05342990 -0.01128321 0.07924231
+v -0.05344334 -0.01050807 0.08200580
+v -0.04581428 -0.01011929 0.08200580
+v -0.04692988 -0.01113057 0.07889651
+v -0.04973902 -0.01139770 0.07956882
+v -0.04973902 -0.01170059 0.07603803
+v -0.05015032 -0.01184606 0.06684373
+v -0.05342990 -0.01051045 0.08200580
+v -0.04973902 -0.01109003 0.08200580
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 9
+f 1 9 16
+f 1 16 21
+f 1 21 26
+f 1 26 30
+f 1 30 35
+f 1 35 41
+f 1 41 43
+f 1 43 44
+f 1 44 55
+f 1 55 47
+f 1 47 46
+f 1 46 39
+f 1 39 33
+f 1 33 27
+f 1 27 23
+f 1 23 22
+f 1 22 17
+f 1 17 11
+f 1 11 5
+f 1 5 6
+f 1 6 2
+f 2 6 13
+f 2 13 12
+f 2 12 18
+f 2 18 24
+f 2 24 28
+f 2 28 32
+f 2 32 31
+f 2 31 38
+f 2 38 45
+f 2 45 50
+f 2 50 56
+f 2 56 57
+f 2 57 51
+f 2 51 42
+f 2 42 36
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+f 2 25 20
+f 2 20 19
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+f 2 7 3
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+f 3 10 4
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+f 7 16 14
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+f 8 16 9
+f 11 17 18
+f 11 18 12
+f 15 19 16
+f 16 19 20
+f 16 20 21
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+f 18 23 24
+f 20 25 26
+f 20 26 21
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+f 23 28 24
+f 25 29 30
+f 25 30 26
+f 27 31 32
+f 27 32 28
+f 27 33 31
+f 29 34 35
+f 29 35 30
+f 29 36 37
+f 29 37 34
+f 31 33 38
+f 33 39 40
+f 33 40 38
+f 34 37 35
+f 35 37 41
+f 36 42 37
+f 37 43 41
+f 37 42 44
+f 37 44 43
+f 38 40 45
+f 39 46 40
+f 40 46 47
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+f 40 49 50
+f 40 50 45
+f 42 51 44
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+f 44 52 53
+f 44 53 54
+f 44 54 48
+f 44 48 55
+f 47 55 48
+f 48 54 49
+f 49 56 50
+f 49 54 53
+f 49 53 57
+f 49 57 56
+f 51 57 52
+f 52 57 53
+
diff --git a/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_30.obj b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..906f216e126c7599044bd98231f3eb17d308de25
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_30.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.07444333 -0.02527020 0.10045859
+v 0.07440184 -0.02529640 0.10045859
+v 0.07444333 -0.02524708 0.09839369
+v 0.07444333 -0.01299288 0.10045863
+v 0.07437971 -0.02528560 0.09832149
+v 0.07212284 -0.02630269 0.10045858
+v 0.07444333 -0.02524554 0.09832149
+v 0.07444333 -0.01551087 0.08856071
+v 0.06031853 -0.01836334 0.10045861
+v 0.07421100 -0.02519005 0.09558343
+v 0.07212284 -0.02627032 0.09832148
+v 0.06843054 -0.02757711 0.10045858
+v 0.07444333 -0.02506677 0.09590021
+v 0.06031853 -0.02089520 0.08856069
+v 0.07444333 -0.02340861 0.08856068
+v 0.06031853 -0.02873596 0.10045857
+v 0.07382655 -0.02499125 0.09310858
+v 0.07444333 -0.02500975 0.09539243
+v 0.07240634 -0.02576947 0.09445140
+v 0.06843054 -0.02754166 0.09832148
+v 0.06843054 -0.02715947 0.09460746
+v 0.06679458 -0.02792847 0.10045858
+v 0.06031853 -0.02721493 0.08856067
+v 0.07444333 -0.02468613 0.09357909
+v 0.07245058 -0.02453664 0.08856068
+v 0.06031853 -0.02873287 0.09824227
+v 0.06131697 -0.02873288 0.10045857
+v 0.07136226 -0.02547050 0.09089461
+v 0.07072198 -0.02522239 0.08856068
+v 0.06445751 -0.02839076 0.09820850
+v 0.06473823 -0.02796851 0.09460746
+v 0.06473823 -0.02679269 0.08856067
+v 0.06611144 -0.02648603 0.08856067
+v 0.06843054 -0.02641822 0.09089460
+v 0.06855914 -0.02591585 0.08856067
+v 0.06445751 -0.02840618 0.10045858
+v 0.06104593 -0.02722726 0.08856067
+v 0.06031853 -0.02865735 0.09600384
+v 0.06129070 -0.02872979 0.09820849
+v 0.06031853 -0.02868817 0.09630782
+v 0.06304005 -0.02864812 0.09937197
+v 0.06304005 -0.02864812 0.10045857
+v 0.06358214 -0.02856029 0.10045858
+v 0.06268603 -0.02861113 0.09689595
+v 0.06129070 -0.02838459 0.09477400
+v 0.06241776 -0.02707316 0.08856067
+v 0.06031853 -0.02868200 0.09615291
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 18
+f 1 18 24
+f 1 24 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
+f 1 9 16
+f 1 16 27
+f 1 27 42
+f 1 42 43
+f 1 43 36
+f 1 36 22
+f 1 22 12
+f 1 12 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 3 5 7
+f 4 8 9
+f 5 10 7
+f 5 6 11
+f 5 11 10
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+f 7 10 13
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+f 8 37 23
+f 8 23 14
+f 9 14 23
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+f 9 38 47
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+f 10 17 18
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+f 11 12 20
+f 11 20 21
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+f 12 22 20
+f 15 24 17
+f 15 17 25
+f 16 26 27
+f 17 19 28
+f 17 28 29
+f 17 29 25
+f 17 24 18
+f 19 21 28
+f 20 22 30
+f 20 30 31
+f 20 31 21
+f 21 32 33
+f 21 33 34
+f 21 34 35
+f 21 35 29
+f 21 29 28
+f 21 31 32
+f 22 36 30
+f 23 37 38
+f 26 39 27
+f 26 40 39
+f 27 39 41
+f 27 41 42
+f 30 36 43
+f 30 43 41
+f 30 41 44
+f 30 44 31
+f 31 44 45
+f 31 45 37
+f 31 37 46
+f 31 46 32
+f 33 35 34
+f 37 45 38
+f 38 45 47
+f 39 40 47
+f 39 47 44
+f 39 44 41
+f 41 43 42
+f 44 47 45
+
diff --git a/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_31.obj b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f68016508f6fde2c3c17f5b6978a754e231a098c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_31.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v 0.08918561 -0.00182320 0.10045867
+v 0.08916107 -0.00182319 0.09832157
+v 0.08916396 -0.00120594 0.09869193
+v 0.08918417 -0.00120595 0.10045868
+v 0.08907306 -0.00293753 0.10045867
+v 0.08889847 -0.00444529 0.09832156
+v 0.08882920 -0.00408012 0.09565572
+v 0.08890568 -0.00174072 0.09449458
+v 0.08890568 -0.00120593 0.09449808
+v 0.08894463 -0.00120593 0.09508273
+v 0.08915964 -0.00120594 0.09832158
+v 0.07908515 -0.00120595 0.10045868
+v 0.08891001 -0.00451598 0.10045866
+v 0.08855938 -0.00630174 0.10045866
+v 0.08854206 -0.00623341 0.09832156
+v 0.08868203 -0.00287860 0.09318087
+v 0.08844539 -0.00532167 0.09449457
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diff --git a/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_32.obj b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f96c1cae10009e538960b5c1bc996479e6b0fc22
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_32.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_4.obj b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40224ef5d4311e0351cc16478f5b5cac5329ed60
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_4.obj
@@ -0,0 +1,721 @@
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diff --git a/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_5.obj b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee93a786f9e1b403d3646a7da08822fc20edd688
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_5.obj
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diff --git a/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_6.obj b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..941ff0cae666f0c6326d42070b7f13195938b7df
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_6.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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+v 0.04003124 -0.00140869 0.09847345
+v 0.03546286 -0.01398575 0.09847341
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+
diff --git a/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_7.obj b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..817955651a238ec4f42d93c8444e1c14af3ebd16
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_7.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_8.obj b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd877e78ad25c57d1a85688c885e96b6f51ae989
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_8.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.06104636 -0.02722818 0.08856067
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+v 0.06033543 -0.02721549 0.08856067
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+
diff --git a/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_9.obj b/dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mjcf/mesh/pepper_grinder_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f894e04c9f7648bd315f9f23dc02c85388eea144
--- /dev/null
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