diff --git a/.gitattributes b/.gitattributes
index c5bfd8dd149e98f5eba89c62c227e8d348ddbbdf..3207797a88023e85dd5c6208fa3c700c42d3e38e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4758,3 +4758,5 @@ dataset/kitchen_supplies/ware/8fcf16a567b15d20b9df625e271d5903/8fcf16a567b15d20b
 dataset/kitchen_supplies/ware/8fcf16a567b15d20b9df625e271d5903/mesh/bowl.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/8fcf16a567b15d20b9df625e271d5903/mesh/bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/9c4e7899a1605df696429194cce315a7.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mesh/mug_010.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mug_010.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mesh/material.mtl b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4aa113fac1c39a5e89a902eefa0ded28d8fac03f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mug_010_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_010_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mesh/material_0.png b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e2732ed27f511339de2f7b3739973a571b8787a7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69ae171e765237e2698a0c509bf1e45cdf0240782488aadbabf73d59b0566e1f
+size 6801693
diff --git a/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mesh/mug_010.glb b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mesh/mug_010.glb
new file mode 100644
index 0000000000000000000000000000000000000000..6e4da0ffe5654a740ff688a9458b1c728bdddfd7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mesh/mug_010.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e82597dec8637fe92616f29e1acfd780c505e268d46e8aa71c519719a7ef216
+size 10138868
diff --git a/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mesh/mug_010.mtl b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mesh/mug_010.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..77ae1ba340eb73b0542c53e5b5d296917407b008
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mesh/mug_010.mtl
@@ -0,0 +1,6 @@
+newmtl mug_010_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/9830260a730e508197227790796349cd/mesh/mug_010.obj b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mesh/mug_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c7e1d9d5cfabe919e0b5977614a33f271668baf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mesh/mug_010.obj
@@ -0,0 +1,103494 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mug_010_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mesh/mug_010_collision.obj b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mesh/mug_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99cfc2d6c8b9008fd215c66dc00c12ce1ac4f5c2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mesh/mug_010_collision.obj
@@ -0,0 +1,18435 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mesh/mug_010_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mesh/mug_010_geometry_Looks_material_0.png
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index 0000000000000000000000000000000000000000..e2732ed27f511339de2f7b3739973a571b8787a7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mesh/mug_010_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:69ae171e765237e2698a0c509bf1e45cdf0240782488aadbabf73d59b0566e1f
+size 6801693
diff --git a/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e2732ed27f511339de2f7b3739973a571b8787a7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69ae171e765237e2698a0c509bf1e45cdf0240782488aadbabf73d59b0566e1f
+size 6801693
diff --git a/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010.obj b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10767c62416c6a30f444fcb110bd9b3ea08e1880
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010.obj
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diff --git a/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision.obj b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abb702233b2a81df198e3866f344ef7f08bfa789
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision.obj
@@ -0,0 +1,18435 @@
+# https://github.com/mikedh/trimesh
+
+o mug_010_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_0.obj b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0a3956d0d0bbee86d4eee7fff5887c0baf24224
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_0.obj
@@ -0,0 +1,694 @@
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diff --git a/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_1.obj b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6dbd805807f324fd989f8b4b23cf07491f2d503e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_10.obj b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b85984a99e2662e3d8b753564e60a02146c2231
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_11.obj b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d121c9e9a2be07a9d4e7abe4d11c0afca7e9e12e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_11.obj
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diff --git a/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_12.obj b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d97f04571711d3f5704c64c858b623ba6b20a9ed
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_12.obj
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diff --git a/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_13.obj b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1d019e9fffde6d0eb122c6608c1435957d62290
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_13.obj
@@ -0,0 +1,463 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_14.obj b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef54a2ded3d87a9b331e12cfde960811d0ea98bf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_14.obj
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diff --git a/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_15.obj b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93d10e08deed9b6ee900ebf7f5967caf96b3edd1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_15.obj
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diff --git a/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_16.obj b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd28b643368ba185de6a2813cf8c2ade4f409d90
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_16.obj
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diff --git a/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_17.obj b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa30c5efa97b9995b22c12caafdc7fcf9d5417ef
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_17.obj
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diff --git a/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_18.obj b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..281a1a448413b942004bcb8379b416f21fc88ffc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_18.obj
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diff --git a/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_19.obj b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ec715ad1c30acddde01415c42302df6e0471ef5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_19.obj
@@ -0,0 +1,454 @@
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diff --git a/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_2.obj b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a92486c53e4f7c0f41be53cb63ee655e2d44a37f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_2.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_20.obj b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61ec4e3baba929fe1e01ec4e9895767b9deeabfd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_20.obj
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diff --git a/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_21.obj b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fe666a42736cf0b0a1c84238ad791c624d36bfd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_21.obj
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diff --git a/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_22.obj b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9de5e7602d75a24345b35e372872df1e69cae19
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_22.obj
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diff --git a/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_23.obj b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f544f0e200de33f8a50b5e15c5a546f87afb634d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_23.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_24.obj b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..991638cded0497baffd09ccbf105771e9851ddab
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_24.obj
@@ -0,0 +1,457 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_25.obj b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a350d856a301c3de428c5fcbc0977522f9d8781e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_25.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_26.obj b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..580ecd9aeba25fe30ea5ca0fc041e63bbfd41eb5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_26.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_27.obj b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3848e282f70ca2a965c10ce54a8e99319f2d0470
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_27.obj
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diff --git a/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_28.obj b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ef74143e4985078b190cbb916e210984341de9f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_28.obj
@@ -0,0 +1,454 @@
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diff --git a/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_29.obj b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6784300fd596e65a2be252a17b9320a7db659f82
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_29.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_3.obj b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52528c59bfc505f4b934778a8a89cab5d98b33e9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_3.obj
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diff --git a/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_30.obj b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b6ad8504db2cc894c40ae43ab67d7907304f13e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_30.obj
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diff --git a/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_31.obj b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..144e15d67df90eb792ddc144110d5f22ab4b5cb9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_31.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_32.obj b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d1b754aced9f3742d23eb79ca495564ad42620b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_32.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_33.obj b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..887b7a7c58894f09eebec2ac09da34210068b50f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_33.obj
@@ -0,0 +1,238 @@
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diff --git a/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_34.obj b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..019a8b4939d343b24d3d48ad27ed6828ca6d9891
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_34.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_35.obj b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c2a6481061324e84c8d2bdd44a4f1205e57fba5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_35.obj
@@ -0,0 +1,670 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_36.obj b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2730751fe171b9254c49e52e9509b2a9e0f01934
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_36.obj
@@ -0,0 +1,424 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_4.obj b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d40e38a615f378cbc12f0aff070180c10bec5214
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_4.obj
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diff --git a/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_5.obj b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b2bff517a3ad9267e4a2e8eb3d6a137f91d7073
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_5.obj
@@ -0,0 +1,400 @@
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diff --git a/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_6.obj b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..717ab99495406ddec6c5a7258fe8f86831d839ba
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_6.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_7.obj b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..934ad532413d17fc0a1460e637b481e05741ff60
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_7.obj
@@ -0,0 +1,379 @@
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diff --git a/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_8.obj b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a69a4e1e3150e26585265bbced30a9b2b487585c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_8.obj
@@ -0,0 +1,625 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_9.obj b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c4f10b6b41dfeb170358f02dde71b3ea6ac1d83
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mesh/mug_010_collision_9.obj
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diff --git a/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mug_010.xml b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mug_010.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f7a30339d8a3620ad4bbf8580ad0c27c38b3b108
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mjcf/mug_010.xml
@@ -0,0 +1,88 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mug_010">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/mug_010.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/mug_010_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mug_010_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/mug_010_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/mug_010_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/mug_010_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/mug_010_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/mug_010_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/mug_010_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/mug_010_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/mug_010_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/mug_010_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/mug_010_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/mug_010_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/mug_010_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/mug_010_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/mug_010_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/mug_010_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/mug_010_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/mug_010_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/mug_010_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/mug_010_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/mug_010_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/mug_010_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/mug_010_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/mug_010_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/mug_010_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/mug_010_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/mug_010_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/mug_010_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/mug_010_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/mug_010_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/mug_010_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/mug_010_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/mug_010_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/mug_010_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/mug_010_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/mug_010_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mug_010">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mug_010.urdf b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mug_010.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9b16c14d1f99c82b3f0a140c50ee2d4b9205ad9f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mug_010.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mug_010">
+   <link name="mug_010">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mug_010.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_010_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <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>9830260a730e508197227790796349cd</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>mug</category>
+         <name>gray mug</name>
+         <color>gray</color>
+         <shape>cylinder</shape>
+         <material>ceramic</material>
+         <description>simple gray mug with a handle</description>
+         <min_height>0.0940</min_height>
+         <max_height>0.0940</max_height>
+         <real_height>0.0940</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428021211</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_container,is_graspable</tags>
+         <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/9830260a730e508197227790796349cd/mug_010.usd b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mug_010.usd
new file mode 100644
index 0000000000000000000000000000000000000000..f6258a484656612837e10e1e790561229e8a7da7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mug_010.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a62040b37173535f00df91a25bf9687403a4d948429c647de67ec50198da0cda
+size 4909777
diff --git a/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/textures/material_0.png b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e2732ed27f511339de2f7b3739973a571b8787a7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69ae171e765237e2698a0c509bf1e45cdf0240782488aadbabf73d59b0566e1f
+size 6801693
diff --git a/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/video.mp4 b/dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5aa77c23243133a63cc467d93447d3392920d4dd
--- /dev/null
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@@ -0,0 +1,3 @@
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+oid sha256:6fdd2750ffd8205765a2bb367094b725299fca43849777b7cdcd24f71cfa5a33
+size 114325