diff --git a/.gitattributes b/.gitattributes
index e344dc88dd96273e68ab6cc3814de05d6254f758..d12e29d965a3cc855e2ce68d9c2068a35d65f09e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4674,8 +4674,5 @@ dataset/kitchen_supplies/ware/24320ba87e5e548f88893ad00a732ae8/mug_013.usd filte
 dataset/kitchen_supplies/ware/34c4f3a5b7a35e1ab98a5c5b660c2257/34c4f3a5b7a35e1ab98a5c5b660c2257.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/326edbaca63657608eabc43a8aa3f7c4/mesh/wine_glass_011.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/326edbaca63657608eabc43a8aa3f7c4/wine_glass_011.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/25f8a45f693e5066917ba11ed7f6e4cc/mesh/mug_034.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/25f8a45f693e5066917ba11ed7f6e4cc/mug_034.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/381cbca07e2a59bfaf277df35cd05fbc.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mesh/yellow_cup.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/mesh/yellow_cup_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mesh/mug_013.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mug_013.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mesh/material.mtl b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..071b9125c70795c59afa98f9bc9facdcca1477b2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mug_013_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd mug_013_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mesh/material_0.png b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b967f5bc62699c33a1e4e65618d0282a582eeb31
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e27b1bd15d71cbf023079ffab746307ec901ffeb6e416493441c944a78605501
+size 7711372
diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mesh/mug_013.glb b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mesh/mug_013.glb
new file mode 100644
index 0000000000000000000000000000000000000000..914f4d2a768183a8bdff07f7b0afd9e73eb7fd6c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mesh/mug_013.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed4eaec960fd4232ca96d3a2e7f11ce4b726ce4424fcdc4008959b93343e5f3b
+size 10906548
diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mesh/mug_013.mtl b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mesh/mug_013.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2e7c901cc39f46c72ef75770a510002ba484e1b8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mesh/mug_013.mtl
@@ -0,0 +1,6 @@
+newmtl mug_013_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mesh/mug_013.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mesh/mug_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6136c784d16b7b71d2a4f0334bb1168156974983
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mesh/mug_013.obj
@@ -0,0 +1,105696 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mug_013_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mesh/mug_013_collision.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mesh/mug_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8806aa26adf7b9ef5b083085ce0e8da0b8509321
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mesh/mug_013_collision.obj
@@ -0,0 +1,18271 @@
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diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mesh/mug_013_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mesh/mug_013_geometry_Looks_material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mesh/mug_013_geometry_Looks_material_0.png
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+size 7711372
diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e27b1bd15d71cbf023079ffab746307ec901ffeb6e416493441c944a78605501
+size 7711372
diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ca21a357c86706079f2e7609031a9cf6a555f7e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013.obj
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diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c607cfe87004f310206b706419d28cce0aa684ff
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_0.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88cb98b23abdc452d915e9e8c8b976cf8d47c488
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_0.obj
@@ -0,0 +1,841 @@
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diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_1.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0292b5223a03a3fb002ba2074456a9e0681365aa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_10.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15551965967f7d30ad7edce72c6272e036ef7403
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_10.obj
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+
diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_11.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d445fa7c7b7392e8931227c1991f598639944e45
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_11.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.01096375 0.02308344 -0.02793608
+v -0.01096375 0.02449513 -0.01566403
+v -0.01096375 0.02889602 -0.02793605
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+v -0.00685092 0.03238208 -0.01826378
+v -0.00648278 0.03238208 -0.01906149
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+v -0.01096375 0.02914087 -0.02618084
+v -0.00569473 0.03238207 -0.01566400
+v -0.00656714 0.03238207 -0.01657224
+v -0.00684325 0.03238207 -0.01722098
+v -0.00685092 0.03238207 -0.01755737
+v -0.00904443 0.02948038 -0.02793605
+v -0.00630254 0.03238208 -0.01930056
+v 0.00862444 0.02986721 -0.02656407
+v 0.00689303 0.03005289 -0.02793605
+v 0.00797061 0.03238208 -0.01940748
+v 0.00806456 0.03238208 -0.01919244
+v 0.00831574 0.03238208 -0.01860977
+v 0.00862444 0.03038235 -0.01569044
+v 0.00826397 0.03238207 -0.01678368
+v 0.00791117 0.03238207 -0.01609530
+v 0.00732828 0.03238207 -0.01566400
+v -0.00663042 0.03025678 -0.02737500
+v -0.00719414 0.02996278 -0.02793605
+v -0.00570431 0.03238208 -0.01991206
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+v 0.00064037 0.03238209 -0.02097888
+v 0.00225483 0.03238209 -0.02094764
+v 0.00386928 0.03238209 -0.02085754
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+
diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_12.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ed05e6001b17df5cd17bdc5f6d76a588e2dc77d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_12.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.02744031 -0.01213310 -0.02794220
+v 0.03283967 -0.01213310 -0.02794220
+v 0.02841844 -0.01213310 -0.02597125
+v 0.02821445 0.00008635 -0.02794216
+v 0.03297305 -0.01213310 -0.02709988
+v 0.03304432 -0.01128386 -0.02794220
+v 0.03307440 -0.01213310 -0.02597125
+v 0.02926777 0.00008635 -0.02597121
+v 0.03371189 0.00008635 -0.02794216
+v 0.03305740 -0.01213310 -0.02656527
+v 0.03309990 -0.01105062 -0.02794220
+v 0.03331632 -0.01105062 -0.02656527
+v 0.03333397 -0.01105062 -0.02597125
+v 0.03391523 0.00008635 -0.02597121
+v 0.03379558 0.00008635 -0.02760434
+v 0.03384200 -0.00133343 -0.02794216
+v 0.03336993 -0.00966433 -0.02794220
+v 0.03373019 -0.00854956 -0.02722894
+v 0.03363604 -0.00946937 -0.02597124
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+v 0.03363473 -0.00807470 -0.02794219
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+v 0.03387535 -0.00535475 -0.02794218
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+
diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_13.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38b1002a716de1c93e456d19d4a6930878bb3538
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_13.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.03432391 -0.00397113 -0.02596781
+v -0.03430571 -0.00457282 -0.02656527
+v -0.03432323 -0.00457282 -0.02596782
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+v -0.02941454 0.00008635 -0.02596780
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+v -0.03328717 -0.01206906 -0.02596784
+v -0.03322245 -0.01233162 -0.02596785
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+
diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_14.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f03d86398abde642298a01b30e86198649a95b0b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_14.obj
@@ -0,0 +1,493 @@
+# https://github.com/mikedh/trimesh
+v 0.03153815 -0.02447267 0.03617722
+v 0.03147809 -0.02447267 0.03650067
+v 0.03091462 -0.02540880 0.03617722
+v 0.03076271 -0.02518989 0.03505831
+v 0.03098704 -0.02447267 0.03483700
+v 0.03110009 -0.02447268 0.03764744
+v 0.03079627 -0.02523598 0.03739828
+v 0.02892214 -0.02809335 0.03702684
+v 0.03034584 -0.02621819 0.03617721
+v 0.02889211 -0.02805877 0.03541270
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+v 0.02726350 -0.02479814 0.03131854
+v 0.02740835 -0.02459651 0.03131854
+v 0.02749666 -0.02447266 0.03131854
+v 0.03057370 -0.02447268 0.03831755
+v 0.03035644 -0.02461958 0.03847076
+v 0.02891330 -0.02646736 0.03860385
+v 0.02919063 -0.02710393 0.03765207
+v 0.02892214 -0.02809334 0.03648518
+v 0.02845934 -0.02754607 0.03809933
+v 0.02791530 -0.02867519 0.03760950
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+v 0.02739068 -0.02979710 0.03617720
+v 0.02942556 -0.02741212 0.03604025
+v 0.02833570 -0.02872847 0.03604024
+v 0.02733592 -0.02974093 0.03530049
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diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_15.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..873e50be30054b9cd18949f13a33acd4ba82067b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_15.obj
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diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_16.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fa6ab136a9df0ebaa71a9fdd5d99dee19429aed
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_16.obj
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diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_17.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c2dd3239adf5868a3ea63f52cf300a6b8b2362e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_17.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_18.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e0e3d421cf4530d2887fd6f61a757ce23d7d699
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_18.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_19.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ae6df4b2976d81f9f75f9c7922c5cda44739e92
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_19.obj
@@ -0,0 +1,442 @@
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diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_2.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1a3ab61028fbc90cd034085e8dd88add41845f9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_2.obj
@@ -0,0 +1,1117 @@
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diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_20.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fd26baa8e4202cee2d43feda697d9a7203aecee
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_20.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_21.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a418310bbea9b2d781e5bfe4689fdf1ec7daca0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_21.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_22.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4eb1a344a7d1725b0e97d08f3994ccb66c6684c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_22.obj
@@ -0,0 +1,181 @@
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diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_23.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40c429da4c30a223bec8b52a6fde490bb28c66be
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_23.obj
@@ -0,0 +1,394 @@
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diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_24.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dda137d531dff4e032b8a3c9de9543b170817971
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_24.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_25.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b40718afce64b4c176c5f5e6aa4b2c9584cf903d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_25.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_26.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2eab32e2f3f12c00de72a594d04b5c019ad64095
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_26.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
+v -0.01399487 -0.03060033 0.03131976
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diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_27.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..022a8045999508608b3db9986683b22326da16fa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_27.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_28.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6744701bb842c0a96a71670cb9b3d92e2eb47b03
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_28.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_29.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f915c1780068636b5179c680dfcdb02795d4aa30
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_29.obj
@@ -0,0 +1,505 @@
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diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_3.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..873be6e51100b3eef56a4d029e69fe90d7ab365f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_3.obj
@@ -0,0 +1,1162 @@
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diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_30.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41f7ea10cfef2567d9967cc59dda1f80373b522b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_30.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_31.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86b60af92998480b847e74e2cac02ce87803ea6a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_31.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.01210705 -0.02991121 -0.02794227
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diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_32.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3399285c981254a0b7becf569ea7857e51086dc7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_32.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_33.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b4f48243b42725cb688a35b0b51bb540cdd54f1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_33.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_34.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d72abc99b0a724dc4f555297fb64e022cdc08c69
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_34.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_35.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c80a1dcbadf4c01e1267f659c3467b8140e200f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_35.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_36.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc710c1020f79ff8bb3456ea3aec9d77e9a83024
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_36.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_37.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad7c37166608893c0221125ff94c9011762a6aa7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_37.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_38.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e0c4d8d1a83bfd4f280942ea4f53f785620b728
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_38.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_39.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..722df33b9ac745d6415c0dde8de074fd03e8b822
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_39.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_4.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b85d5e19c6abd2d69ad5c7060ac2975d40c12055
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_4.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v 0.02170963 0.01508176 -0.02797178
+v 0.02318178 0.01508174 -0.02253675
+v 0.02843434 0.01508176 -0.02797178
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diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_40.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04881bc176dbcf07433c41e2ff60c98497824446
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_40.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_41.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c81bae484a1175e2f47e9189cbd3c81d03e79d0b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_41.obj
@@ -0,0 +1,682 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_42.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..766a1339e40d8f5c3a9c6d67d12f44b408eaa1f5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_42.obj
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diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_43.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5573170cbd5f5019d6a8f2d6f5329e4af6c8feff
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_43.obj
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diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_44.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2afdd66eba679eec6c135d7a9f18f844c1ffac75
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_44.obj
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diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_45.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed96548d0f459f124466752f6bd2e6e8edff3b2d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_45.obj
@@ -0,0 +1,496 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_46.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d47a41ff5029445d4becac669271835d76292c4a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_46.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_47.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..204c30747c36338fd004bb35c0ca6bff603c63ad
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_47.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_48.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4437ad3db03e57b1a0cfc9e5aa35e001e3e70d82
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_48.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_49.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..134c7f472765b2933e12a576da75f42b15d614a8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_49.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_5.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce8ad5c37155dd619a64becc092c55ea7c14366f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_5.obj
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diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_6.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5968ea677678500f31ba412f36ae730fafbf941b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_6.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_7.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f98bc2241abcb326fc8a0138adfe00054ca9abcd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_7.obj
@@ -0,0 +1,391 @@
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diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_8.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..133d78349656affa5626ed5bbb9b648ba1517bc7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_8.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_9.obj b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8fdc009a46483d15f0fed2e4fa6cafe89e5f2e6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mesh/mug_013_collision_9.obj
@@ -0,0 +1,154 @@
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diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mug_013.xml b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mug_013.xml
new file mode 100644
index 0000000000000000000000000000000000000000..259c82c1c31333d584f368a5deff8de8d4327177
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mjcf/mug_013.xml
@@ -0,0 +1,114 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mug_013">
+  <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" />
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+    <mesh name="collision_mesh_0_0" file="mesh/mug_013_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mug_013_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/mug_013_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/mug_013_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/mug_013_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/mug_013_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/mug_013_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/mug_013_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/mug_013_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_31" file="mesh/mug_013_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/mug_013_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/mug_013_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/mug_013_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/mug_013_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/mug_013_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/mug_013_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/mug_013_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/mug_013_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/mug_013_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/mug_013_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_43" file="mesh/mug_013_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/mug_013_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/mug_013_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/mug_013_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/mug_013_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_49" file="mesh/mug_013_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mug_013">
+      <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_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" />
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+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_48" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_49" 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/33b8414953135277ab33ef33ff1721f9/mug_013.urdf b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mug_013.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..780e7ceca650f12909e9d5f76ca9e6592ce106c4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mug_013.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mug_013">
+   <link name="mug_013">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mug_013.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mug_013_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2650" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>33b8414953135277ab33ef33ff1721f9</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>mug</category>
+         <name>enamel mug</name>
+         <color>white,blue</color>
+         <shape>cylinder</shape>
+         <material>metal</material>
+         <description>white enamel mug with blue floral print and side handle</description>
+         <min_height>0.0718</min_height>
+         <max_height>0.0718</max_height>
+         <real_height>0.0718</real_height>
+         <min_mass>0.18</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518191935</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.038011 -0.041488 -0.032629</min>
+            <max>0.037675 0.056815 0.039142</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mug_013.usd b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mug_013.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/mug_013.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf450ba43d649825310ef29ef43813add147f11b25bc124c8771faafa9336a67
+size 4817187
diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/textures/material_0.png b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e27b1bd15d71cbf023079ffab746307ec901ffeb6e416493441c944a78605501
+size 7711372
diff --git a/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/video.mp4 b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/33b8414953135277ab33ef33ff1721f9/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d80aa7b2da53ba96ade4e9e44be7a21f65381ddb423a16d88645a089afcbab7
+size 260717