diff --git a/.gitattributes b/.gitattributes
index 3546a0c46fba636c31eaeae687d4f7637acb5d04..49c72c3df63254aceea8f4519fdc272acaf4bd07 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4751,6 +4751,5 @@ dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mesh/coffee_cup_0
 dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mesh/mug_002.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mug_002.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/7e0f9bf76c4c54ffb4b563af46360523.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mesh/purple_cup.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/7e0f9bf76c4c54ffb4b563af46360523/mesh/purple_cup_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mesh/mug_014.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mug_014.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mesh/material.mtl b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e215a39655ce9eb17ebcbb7a8e1ea305dd9be202
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mug_014_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_014_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mesh/material_0.png b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b9866bbec7c05d8459e8893b07545e87e993ed93
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1a87ae86381dcaecca017cabde03518c30ef97f64294300d20814e256df8b89
+size 8091679
diff --git a/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mesh/mug_014.glb b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mesh/mug_014.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3c248f4229e8deee9f90ba7b3a81e5b2128790e2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mesh/mug_014.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cbdb042c41cffe5dd71517b1f0e44f7f443210b5b1a6e6d2aa38113e9139cdf
+size 11207932
diff --git a/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mesh/mug_014.mtl b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mesh/mug_014.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..097920912b1207d03e51e24b250157ecb4dd00ca
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mesh/mug_014.mtl
@@ -0,0 +1,6 @@
+newmtl mug_014_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/7ddfb50dd7a15a1a8922bf89ea111cd6/mesh/mug_014.obj b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mesh/mug_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45d0a1b2c4686989676c4e216266d7c0acb1615f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mesh/mug_014.obj
@@ -0,0 +1,105118 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mug_014_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mesh/mug_014_collision.obj b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mesh/mug_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d5d5edbeb8bfd08ae2fd694627da3ed85b270fb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mesh/mug_014_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014.obj b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014.obj
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+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision.obj b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92bdc7bf9d13ba9a187a8100cb78a56884a36a49
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision.obj
@@ -0,0 +1,18413 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_0.obj b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d8688b7c88bb766e6823eacb4075318c7207a99
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_1.obj b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdc24a9b50c10c0426f2af626fc72c028778d3f8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_10.obj b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67179c4841b4fed654716d5ed23cba4dd1ddf4df
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_11.obj b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58ec220a4b4da4433338f6abce9f825f83993dd9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_11.obj
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diff --git a/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_12.obj b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e11ef4ab91ac93b85208f4a861ab041fb59847d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_12.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_13.obj b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0794b54da8a68dfda527d5128b753a1d301bb1d7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_13.obj
@@ -0,0 +1,397 @@
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diff --git a/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_14.obj b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85d0a3284c45b8e75ef9e660a50c06ee963fd365
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_14.obj
@@ -0,0 +1,430 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_15.obj b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9735c84eb512d359648998414fb309644e9af12c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_15.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_16.obj b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f9f4f70c4a88854a92cb49f4be38d6ca9449f00
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_16.obj
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diff --git a/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_17.obj b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d05cc5dc824982ca874702dd4e916f29439eddda
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_17.obj
@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_18.obj b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8650228c6e65c197ad3de575f49c2837606f7cb2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_18.obj
@@ -0,0 +1,607 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_19.obj b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18ac898ca7243010af5abff855e849c40587c164
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_19.obj
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diff --git a/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_2.obj b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ef9236f80cfc4beb9f10a491373f493ddfa8368
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_20.obj b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..533635c63e06aed9220907cc54ea0e914576456f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_20.obj
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diff --git a/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_21.obj b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d4d96d43e381e7285c1e9a371cbdc863a775999
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_21.obj
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+f 117 119 118
+
diff --git a/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_22.obj b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e56243d3b01882478d18647012ef9ad28bef29fe
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_22.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.01212884 0.02072506 -0.03297355
+v -0.00150248 0.02103274 -0.03297355
+v -0.00150248 0.02405604 -0.03120957
+v -0.01212884 0.02382082 -0.03120957
+v -0.01212884 0.03143596 -0.03297351
+v -0.00150248 0.03173473 -0.03297351
+v -0.00150248 0.03178711 -0.03120954
+v -0.01212884 0.03148946 -0.03120954
+v -0.01212884 0.03147052 -0.03198316
+v -0.01116347 0.03161098 -0.03297351
+v -0.00174799 0.03177374 -0.03297351
+v -0.00150248 0.03176371 -0.03216258
+v -0.00150248 0.03177151 -0.03191720
+v -0.00161795 0.03180606 -0.03120954
+v -0.01072551 0.03174252 -0.03120954
+v -0.01212884 0.03147275 -0.03191720
+v -0.01072551 0.03169014 -0.03297351
+v -0.00174799 0.03181053 -0.03191720
+v -0.00324389 0.03193762 -0.03297351
+v -0.00324389 0.03197552 -0.03191720
+v -0.00174799 0.03182613 -0.03120954
+v -0.00922856 0.03192424 -0.03191720
+v -0.01072551 0.03172581 -0.03191720
+v -0.00922856 0.03193984 -0.03120954
+v -0.00922856 0.03188634 -0.03297351
+v -0.00368289 0.03196660 -0.03297351
+v -0.00324389 0.03199112 -0.03120954
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+v -0.00844108 0.03200561 -0.03120954
+v -0.00773266 0.03204798 -0.03191720
+v -0.00773266 0.03201008 -0.03297351
+v -0.00474084 0.03203461 -0.03297351
+v -0.00474084 0.03208810 -0.03120954
+v -0.00517879 0.03204241 -0.03297351
+v -0.00623675 0.03209815 -0.03191720
+v -0.00773266 0.03206358 -0.03120954
+v -0.00694517 0.03209033 -0.03120954
+v -0.00667574 0.03204575 -0.03297351
+v -0.00623675 0.03211374 -0.03120954
+v -0.00623675 0.03206024 -0.03297351
+f 1 2 3
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+f 17 22 25
+f 18 20 27
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+f 22 31 25
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+f 29 36 30
+f 30 36 37
+f 30 37 35
+f 30 35 38
+f 30 38 31
+f 34 40 35
+f 35 40 38
+f 35 37 39
+
diff --git a/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_23.obj b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7933f73f3dde4dba1d5879434509f8381b502009
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_23.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.02534823 0.00847859 -0.02721771
+v 0.02545639 0.00812623 -0.02721771
+v 0.02530002 0.00847860 -0.02892841
+v 0.01827036 0.00847859 -0.02721771
+v 0.02550460 0.00795256 -0.02721771
+v 0.02540701 0.00812624 -0.02892841
+v 0.02528944 0.00847860 -0.02928242
+v 0.01461033 0.00847861 -0.03283300
+v 0.01978117 -0.00005147 -0.02721774
+v 0.02536234 0.00812624 -0.03042252
+v 0.02580206 0.00682618 -0.02721771
+v 0.02525534 0.00847860 -0.03042252
+v 0.01631278 -0.00005145 -0.03283303
+v 0.02516364 0.00847861 -0.03283300
+v 0.02662154 -0.00005147 -0.02721774
+v 0.02577502 0.00670178 -0.02892842
+v 0.02531060 0.00812625 -0.03191718
+v 0.02524359 0.00847860 -0.03077653
+v 0.02598077 0.00608222 -0.02721772
+v 0.02640050 -0.00005145 -0.03283303
+v 0.02518833 0.00847861 -0.03227065
+v 0.02520479 0.00834167 -0.03283300
+v 0.02644283 -0.00005145 -0.03191721
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+v 0.02526945 0.00812625 -0.03283300
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+v 0.02593727 0.00590104 -0.02971230
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+v 0.02632173 0.00217792 -0.03283302
+v 0.02642049 0.00345039 -0.02721773
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+v 0.02600663 0.00481392 -0.03283301
+v 0.02639815 0.00366498 -0.02721773
+v 0.02623002 0.00308971 -0.03283302
+v 0.02617123 0.00366500 -0.03283302
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+f 1 14 8
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+
diff --git a/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_24.obj b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecbc7f9b21376384ce086a84822385a037862edf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_24.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.02819759 0.00069076 -0.01347125
+v 0.02819759 -0.00005152 -0.01347125
+v 0.02819759 0.00183050 -0.01361348
+v 0.02662710 0.00217783 -0.00809992
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+v 0.02819759 0.00217785 -0.01366589
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+
diff --git a/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_25.obj b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fa1b9363f64722bb9c112dd3317ee21672cf3a2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_25.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.02817985 -0.00005152 -0.01345230
+v 0.02669991 -0.00005155 -0.00477061
+v 0.02817985 -0.00079713 -0.01345230
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+v 0.02023601 -0.00005155 -0.00477061
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+v 0.02817985 -0.00228417 -0.01364626
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+v 0.02817985 -0.00245591 -0.01369475
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+v 0.02648289 -0.00079707 -0.03084122
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+v 0.02817985 -0.00363799 -0.01411327
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+v 0.02817985 -0.00598875 -0.01623394
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diff --git a/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_26.obj b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15d2c0cbf6b245423d8229541eea62ddc60de36f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_26.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_27.obj b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..897f415e640763444b864a445566953353fb1b5c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_27.obj
@@ -0,0 +1,616 @@
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diff --git a/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_28.obj b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e091dfa1a4807463b2f3d7c629e50fc68d3c9fd7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_28.obj
@@ -0,0 +1,139 @@
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diff --git a/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_29.obj b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d2be6ad7ef350082d7d92027102057bdc81841b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_29.obj
@@ -0,0 +1,574 @@
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diff --git a/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_3.obj b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f0cdb5bccfae30c604213fff3f5e19902f40202
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_3.obj
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diff --git a/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_30.obj b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..486a8b8eb05f29ed0f2f8f03b41f491c4e43d7ea
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_30.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_31.obj b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..976128f24445fa62084ef9849197a4690a3a9f25
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_31.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_32.obj b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13dca6454835c79eea48fdb2af5eccdb4b076c40
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_32.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_33.obj b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60feda243b9586a99eefbf7b2a72f836ffb1d8d9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_33.obj
@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_34.obj b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19e84d0f6307f9499a23360cad84d68455c3f083
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_34.obj
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diff --git a/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_35.obj b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bcc0a9c6d0046e7d17485cbeb941594450dca0f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_35.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_36.obj b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de895e5fcf826f3f936e3064d79817670df7158e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_36.obj
@@ -0,0 +1,514 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_37.obj b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ebc6f0cb3093deb1113e14dbf880b863d1fd4c2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_37.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_38.obj b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc64c3461197ea507cba410bead62211eccd441d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_38.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_4.obj b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..487eae16107f02c9dbbf2f07e7d5508595aa71f7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_4.obj
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diff --git a/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_5.obj b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2eb88ff402e15db5d2c7844e1515cbfacbf55ed6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_5.obj
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diff --git a/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_6.obj b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b9694c44604d6f301aea8fae7945e57c9838153
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_6.obj
@@ -0,0 +1,361 @@
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diff --git a/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_7.obj b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc28ea76614211d122c2db258e14ee2a69f6e279
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_7.obj
@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_8.obj b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d741c1ad0100f3f3690e268c3cf40ff0c5f41531
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_8.obj
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diff --git a/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_9.obj b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..177231153494aae69ad6a73fd60b87a4cc51da2b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mesh/mug_014_collision_9.obj
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diff --git a/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mug_014.xml b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mug_014.xml
new file mode 100644
index 0000000000000000000000000000000000000000..339c561c9146e52a9cc59a6cf182ecae89c0f3fb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mjcf/mug_014.xml
@@ -0,0 +1,92 @@
+<?xml version='1.0' encoding='utf-8'?>
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+    <mesh name="collision_mesh_0_0" file="mesh/mug_014_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mug_014_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_23" file="mesh/mug_014_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/mug_014_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/mug_014_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/mug_014_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/mug_014_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/mug_014_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/mug_014_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/mug_014_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/mug_014_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/mug_014_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/mug_014_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/mug_014_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/mug_014_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/mug_014_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/mug_014_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/mug_014_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mug_014">
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mug_014.urdf b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mug_014.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8830320c8695e558330634d81a4bd70cc6113883
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mug_014.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mug_014">
+   <link name="mug_014">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mug_014.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_014_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3500" />
+         <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>7ddfb50dd7a15a1a8922bf89ea111cd6</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>mug</category>
+         <name>orange mug</name>
+         <color>orange,white</color>
+         <shape>cylinder</shape>
+         <material>ceramic</material>
+         <description>orange cylindrical mug with side handle and white logo</description>
+         <min_height>0.0810</min_height>
+         <max_height>0.0810</max_height>
+         <real_height>0.0810</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609202259</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.038904 -0.033143 -0.038747</min>
+            <max>0.052037 0.033035 0.042212</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</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/7ddfb50dd7a15a1a8922bf89ea111cd6/mug_014.usd b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mug_014.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/mug_014.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a30abe0225f8fa30d72aeaec6ce8b01fef8c6b921dc396304543ee32c26fac7c
+size 4774254
diff --git a/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/textures/material_0.png b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/textures/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/textures/material_0.png
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diff --git a/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/video.mp4 b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7ddfb50dd7a15a1a8922bf89ea111cd6/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd71d7e8bb8a510c3e0be2c5a9e4e133309104bd4b8f399762eaed19ffb5375a
+size 180346