diff --git a/.gitattributes b/.gitattributes
index 461821de3716287270de52fb99a7b2b64a194887..d1769b7c90d5eca111581da059eabdd7947a8c31 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4768,3 +4768,6 @@ dataset/kitchen_supplies/ware/8e14e822769a5828800ae6647acb6588/mesh/coffee_cup_0
 dataset/kitchen_supplies/ware/8e14e822769a5828800ae6647acb6588/mjcf/mesh/coffee_cup_004.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mesh/mug_039.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mug_039.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/a3f1c8ff85a85913a0310be99c938dc1.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mesh/black_jar.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mesh/black_jar_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/a3f1c8ff85a85913a0310be99c938dc1.urdf b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/a3f1c8ff85a85913a0310be99c938dc1.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..55c5e3af76c01583886bf54a9a62e6bc265b1bb0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/a3f1c8ff85a85913a0310be99c938dc1.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="black_jar">
+   <link name="black_jar">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/black_jar.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/black_jar_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000" />
+         <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>0.150000</scale>
+         <version>v0.1.7</version>
+         <category>black jar</category>
+         <description>cylindrical black jar with rounded base and flat lid</description>
+         <min_height>0.12</min_height>
+         <max_height>0.18</max_height>
+         <real_height>0.15</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <generate_time>20260116171708</generate_time>
+         <gs_model>mesh/black_jar_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.292381286621094</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/a3f1c8ff85a85913a0310be99c938dc1.usd b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/a3f1c8ff85a85913a0310be99c938dc1.usd
new file mode 100644
index 0000000000000000000000000000000000000000..c1ac632698792c5c0538db848bdcb4b78e4f53ca
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/a3f1c8ff85a85913a0310be99c938dc1.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20b2a145a834c7a82e5d80da333c867d385c6d4b4a4e3137b0ab1c0aaa05c5ed
+size 1284090
diff --git a/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mesh/black_jar.glb b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mesh/black_jar.glb
new file mode 100644
index 0000000000000000000000000000000000000000..60395467bae9c8f316cf65cb8a4c796151137986
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mesh/black_jar.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9bd8da9eac7d0f9873af16f84cc872eb7c2c60184af35f055ea14d4925dd59c
+size 1703908
diff --git a/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mesh/black_jar.obj b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mesh/black_jar.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c91701916506c8a1362c16abb69b938c65b5f73
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mesh/black_jar.obj
@@ -0,0 +1,79076 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mesh/black_jar_collision.obj b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mesh/black_jar_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..424e391e8ef8b754fb7e8bb328eb6a28247bfdc0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mesh/black_jar_collision.obj
@@ -0,0 +1,20009 @@
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diff --git a/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mesh/black_jar_gs.ply b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mesh/black_jar_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..4a61aa59e22e3f0265ae896b2705e692ea0cab3e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mesh/black_jar_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04a9ae31c285686b885b15dd1e19c5a0ac474c289f2b70e5df1c9dc696bb3862
+size 6428042
diff --git a/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mesh/material.mtl b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/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
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+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mesh/material_0.png b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mesh/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20b8344059408907d4b80a888f4d767daa602e8fc327a3149de365213147c2a4
+size 838339
diff --git a/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/a3f1c8ff85a85913a0310be99c938dc1.xml b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/a3f1c8ff85a85913a0310be99c938dc1.xml
new file mode 100644
index 0000000000000000000000000000000000000000..29dd14bdac0cd9b07dccee93f746de57d405d102
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/a3f1c8ff85a85913a0310be99c938dc1.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="black_jar">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
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+    <mesh name="collision_mesh_0_23" file="mesh/black_jar_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/black_jar_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/black_jar_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/black_jar_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/black_jar_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/black_jar_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/black_jar_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/black_jar_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/black_jar_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/black_jar_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/black_jar_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/black_jar_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/black_jar_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="black_jar">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
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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" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar.obj b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea3c22eb107d089b8f847ea4bb34e589ea0daaa6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar.obj
@@ -0,0 +1,79076 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision.obj b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1038a95a35778603a094c7c57177b49d85574ab9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision.obj
@@ -0,0 +1,20009 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_0.obj b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de4035018f10c500961ffcafc3493412c2dbce73
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_0.obj
@@ -0,0 +1,1264 @@
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diff --git a/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_1.obj b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3e83860bd99e2dc452062bc7dbf3f0687b09b2b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_10.obj b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23fde21ae2e8b9acab518dd18f6239ac46f5078d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_10.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_11.obj b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f838dd9635ab6a2144a800bb37bbf686fa4d782
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_11.obj
@@ -0,0 +1,481 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_12.obj b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1960fb523d5795ded583393e7320b4c89233a25a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_12.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_13.obj b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e09c6e2880232ada09db15cf29f882cd283c5162
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_13.obj
@@ -0,0 +1,610 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_14.obj b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55b48299bf5c8bb1d23becad5a6b6b67d1dc1369
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_14.obj
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diff --git a/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_15.obj b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81c6eb78381034e58dc946ec39809ca9a9d307aa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_15.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_16.obj b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e51c99c5915a262c563dfddf45954895f4cce9ee
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_16.obj
@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_17.obj b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c11b06bba52b59953503666cd8abbb02d099cfa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_17.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_18.obj b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4f01303fe20ed120978826c81a0e768a7f253dd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_18.obj
@@ -0,0 +1,544 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_19.obj b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..381fda2d6190e562bf57ced50bfd5cc45fa48a53
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_19.obj
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diff --git a/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_2.obj b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..035db57ff1730e9a0fd60184bb22f3395d214bb4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_20.obj b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5ac25a89643d11dc7df2e0ff042332c772eb47e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_20.obj
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diff --git a/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_21.obj b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c82ff75db98e223d86d568d5faa24755113cb29a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_21.obj
@@ -0,0 +1,313 @@
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diff --git a/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_22.obj b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7471717cdfee7739fc3f90c4f6073574dd32caa6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_22.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_23.obj b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd847c2170dbc7d26f5e1d25de7bb883c9d1a679
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_23.obj
@@ -0,0 +1,394 @@
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diff --git a/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_24.obj b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e38850d8cd725e9cec722b0ade21bba476aa2a7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_24.obj
@@ -0,0 +1,307 @@
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diff --git a/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_25.obj b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6901f5115a45a38e993d055970b6da8fc88ce01
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_25.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_26.obj b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7db89930956e73e422d10c19c8f6772d952fb655
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_26.obj
@@ -0,0 +1,658 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_27.obj b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7256ef095f05be5f1a3c03e58238200808b76b99
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_27.obj
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diff --git a/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_28.obj b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5365bae1ce90fb25741f687fbe2dc33b280efd5f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_28.obj
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diff --git a/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_29.obj b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c461ce0649364d5172c0063182437f7e45583ea5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_29.obj
@@ -0,0 +1,484 @@
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diff --git a/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_3.obj b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a35737b8b44464482fbb1cd6e1508460b709fd8f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_3.obj
@@ -0,0 +1,1222 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_30.obj b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1acd1200857ef08eb650ff3ade08ec11f11513b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_30.obj
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diff --git a/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_31.obj b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e1b30fed40809da99ba4e2814368ba1d229bd37
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_31.obj
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diff --git a/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_32.obj b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9271933db3cac23347f4dcfa033962c86e3f698
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_32.obj
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diff --git a/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_33.obj b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec1e51f562bd10f4627998fde9bbcca29d70bc59
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_33.obj
@@ -0,0 +1,457 @@
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diff --git a/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_34.obj b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..254c6a77cf5c0ec874d47751b4e591a43aa331df
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_34.obj
@@ -0,0 +1,778 @@
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diff --git a/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_35.obj b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd13d481639061e64e5f548e9fe07f38cf1a397c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_35.obj
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diff --git a/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_4.obj b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c735a21b1de3e904a37a67e685d9d39de2f687c7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_4.obj
@@ -0,0 +1,364 @@
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diff --git a/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_5.obj b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96bb5e3c6ff37f5cf1bc0ed8edb25803384971ce
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_5.obj
@@ -0,0 +1,445 @@
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diff --git a/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_6.obj b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b538102939653ba4528598b417861e2c46fd162
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_6.obj
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diff --git a/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_7.obj b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac2e5ef4d8790ebb08d9ca0383f842d6b81f6784
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_8.obj b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08dd286310c8ddd167da1a05c775da02b23ab3ba
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_8.obj
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diff --git a/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_9.obj b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..536352972d51eae38b100ac8a4a8d7f05248ac07
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mjcf/mesh/black_jar_collision_9.obj
@@ -0,0 +1,439 @@
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