diff --git a/.gitattributes b/.gitattributes
index b82ca394204cd8c31ba67305131051c719ef63da..b7ce6685a78d4ef76f86e2ba84358752a895e501 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4753,3 +4753,5 @@ dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/mesh/thermos_033.
 dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/thermos_033.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/849ac7e0e8945a7ab44f44423051bd69/mesh/thermos_004.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/849ac7e0e8945a7ab44f44423051bd69/thermos_004.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mesh/mug_032.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mug_032.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mesh/material.mtl b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..44900aedbc5ffab7e4f4041d1ec13f13b3f78595
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mug_032_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_032_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mesh/material_0.png b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8d616de7f14b8e29d281483990eaa65d103cad93
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb882a184206b49af1ce46926e0ca7fceef99249ab62a667f5b7e01352f92190
+size 9334641
diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mesh/mug_032.glb b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mesh/mug_032.glb
new file mode 100644
index 0000000000000000000000000000000000000000..899b2254927d33bbdef746fadcab9ba111c87a7b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mesh/mug_032.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27c24cfee70088eaa838fef99104665cf72251983e26dc5c610ccf4bd2c22a8e
+size 12568420
diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mesh/mug_032.mtl b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mesh/mug_032.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0df40ff39869b31e2bbdba4b5580a41d734dc60d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mesh/mug_032.mtl
@@ -0,0 +1,6 @@
+newmtl mug_032_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/84d30ff685bd56589a323c9a1cb864ea/mesh/mug_032.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mesh/mug_032.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f2ee76f163d5d2453feb600687cc316a4ed74d1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mesh/mug_032.obj
@@ -0,0 +1,105236 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mug_032_geometry_Looks_material_0
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+
diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mesh/mug_032_collision.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mesh/mug_032_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8373ee685c6dbce8c4a94b436ac170579dcb570
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mesh/mug_032_collision.obj
@@ -0,0 +1,31322 @@
+# https://github.com/mikedh/trimesh
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+o geometry_0
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mesh/mug_032_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mesh/mug_032_geometry_Looks_material_0.png
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index 0000000000000000000000000000000000000000..8d616de7f14b8e29d281483990eaa65d103cad93
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+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mesh/mug_032_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:cb882a184206b49af1ce46926e0ca7fceef99249ab62a667f5b7e01352f92190
+size 9334641
diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb882a184206b49af1ce46926e0ca7fceef99249ab62a667f5b7e01352f92190
+size 9334641
diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032.obj
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index 0000000000000000000000000000000000000000..a257441efd440091382b2df7f8442464d0741b83
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+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebca34af729a4e23c56dd217ea4044f1c95ffe58
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision.obj
@@ -0,0 +1,31322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_0.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19a6ac08677656b651645b14a1e8b92133bd3c78
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_1.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fcb032ee9f4824780091b72b4b4cbca3b36e49e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_10.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88bf3a0fd122f8ba3e33b8ff5e80dc53faabe331
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_11.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef28e4cd3876bab6cc58aec63151b37aeb627d93
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_11.obj
@@ -0,0 +1,742 @@
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_12.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bd39b8c565d44613b984078d26a36a017ed0095
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_12.obj
@@ -0,0 +1,610 @@
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_13.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48850e07977b228b37fe28b94d750cddd1133727
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_13.obj
@@ -0,0 +1,721 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_14.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6701d04de0d30871c9bb99239285ca87d0535aba
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_14.obj
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_15.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73cea52e5a626e75af8aeb54da5461db0dd08bba
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_15.obj
@@ -0,0 +1,355 @@
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_16.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1591cdc39c1bf6ce0dcbf4e4745e3b1fe033bbdf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_16.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_17.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0dbadf320f7fc902bc0ce9d787c178a44071a7b3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_17.obj
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_18.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..473c3a212b9a3b601bf658c4a2b49993ab81d5d7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_18.obj
@@ -0,0 +1,214 @@
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_19.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c78bd2d0cf32422ca2794a0bbd6160f7143d6aa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_19.obj
@@ -0,0 +1,775 @@
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_2.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8943f47bf23f2c4014c0761203b807d9d7ec5964
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_2.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_20.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ec7de9e09aab37778279989109a4eae9596db53
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_20.obj
@@ -0,0 +1,625 @@
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_21.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23717ea455949a40d00a4bb7e04460abd7e10f23
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_21.obj
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_22.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25965fb37ea5a4acb1e73ac87e05b9e79c738007
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_22.obj
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_23.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16ed77eb629f7994e28a2a921b6ac678e8ee9890
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_23.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_24.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..435077f5a91633d352d4313f217bc02f108650de
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_24.obj
@@ -0,0 +1,484 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_25.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dde930ec77c92130e0524911121fbcb11b41d1a0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_25.obj
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_26.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca7882c179929a6db9bb5b9bf21c4034633befcd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_26.obj
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_27.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa62f0b10103f71da0f2bc4288d5ca0583de60e1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_27.obj
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_28.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31a0435e3c30ab37eedba38d8a3df73fc592c261
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_28.obj
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_29.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5aa64d69f59d34d4f847aae4e712bc657aae8171
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_29.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_3.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8c7536c246a0d83a93ed4c750ec0f0d88966d71
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_3.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_30.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bc91085a3e43db6e20ce336d2956d5c208c5da8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_30.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_31.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cb66af4ca7a03e51dd348332ebfca20efd6c76e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_31.obj
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_32.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d47360c36f0bce14a815e98ff9ccf0bf6f69ee71
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_32.obj
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_33.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ee5ba1994315fc01ed88c627a1004dfc234a03f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_33.obj
@@ -0,0 +1,964 @@
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_34.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ebff84c642f14ed7b50d3ef78dccf9b80f44bb1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_34.obj
@@ -0,0 +1,382 @@
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_35.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdf87d545e388151c31b52e7bf63f867e8439c56
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_35.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_36.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31252363d5396d90496a8b4aff7e7d97ea161722
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_36.obj
@@ -0,0 +1,328 @@
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_37.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da5e38d4361fda01da7475d33b2e21d631897c3b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_37.obj
@@ -0,0 +1,493 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_38.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7765b6e29316d9f3cbd575c5d0bed9f3821094bd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_38.obj
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_39.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee598e9560721e76cf7c56971ffcf8e7e1cf3eba
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_39.obj
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_4.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8195e56295d2ece139226beda51ded0dbec601e4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_4.obj
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_40.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49967c4c3cbde28aeb03509da5341008ac0dcb11
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_40.obj
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_41.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2da42d65745d0bf4fd25e9db4814ed7d21ddcd8b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_41.obj
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_42.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2249bf3d696de80c77fc2271954ea8fccdf92c4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_42.obj
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_43.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b0d389d20b677f371cc3000fdbe06f665f8e6c5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_43.obj
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_44.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfafcf0f10f31743ca6da887f9d78d737e08fa2d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_44.obj
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_45.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ba095c3344b9d533e3c1f3bdae0b2e198ae9b08
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_45.obj
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_46.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..718e3af46552f0a32c007f0e8b55cdc9b60afdf7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_46.obj
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_47.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44d954d2ff53e4611943f219df8221df3bbb4530
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_47.obj
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_48.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab49fea44f6af8344879a9391c4d06c2f635793c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_48.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.02885928 -0.00990239 -0.01092140
+v 0.03557933 -0.00990239 -0.01092140
+v 0.03010159 -0.00990242 -0.00374249
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+
diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_49.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f31876bd9e79f42b91747593f552e00d0ff5cb9e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_49.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.00141321 -0.03920687 -0.02348919
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+
diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_5.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88941a9b742b50c9e847248cb21cd523fe0dc2da
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_5.obj
@@ -0,0 +1,568 @@
+# https://github.com/mikedh/trimesh
+v -0.00141321 0.03844948 -0.02748000
+v -0.00141321 0.03823966 -0.02831538
+v -0.00141321 0.03008632 -0.02748003
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+v 0.00099270 0.03745281 -0.02963460
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_50.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a840ef6435ae4141cf54ce357c6a61189e886e0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_50.obj
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_51.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34b152ad4fc47ae90b7df36dc2aac227b49c1396
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_51.obj
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_52.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35a7b69673d8949b3d6302cadad1acbd3fb7f780
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_52.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_53.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05ed05a6bb4b1ffd3cc6a58d67d3ec5fca0c5c59
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_53.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_6.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf932b2099d14aa0b6a4f89e9d8df5addd596e81
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_6.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_7.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..772c6014032d773f07b4cb27dd9a61d4c00e1d62
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_7.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_8.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d73e34081c384a62644e917de330ef6c694dd20e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_8.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_9.obj b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65fddb9f1d9c029b0b2eae2329d33840dc4b008f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mesh/mug_032_collision_9.obj
@@ -0,0 +1,1927 @@
+# https://github.com/mikedh/trimesh
+v 0.03218844 0.02521318 0.04561203
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mug_032.xml b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mug_032.xml
new file mode 100644
index 0000000000000000000000000000000000000000..96023c6cfae08ded4d0b4f84a2bd621fd884cca7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mjcf/mug_032.xml
@@ -0,0 +1,122 @@
+<?xml version='1.0' encoding='utf-8'?>
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+    <mesh name="collision_mesh_0_51" file="mesh/mug_032_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/mug_032_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/mug_032_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mug_032">
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_50" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_51" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_52" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_53" 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/84d30ff685bd56589a323c9a1cb864ea/mug_032.urdf b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mug_032.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..254a3f0202630792eea3aac763f34bd1d31a17d7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mug_032.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mug_032">
+   <link name="mug_032">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mug_032.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_032_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</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>84d30ff685bd56589a323c9a1cb864ea</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>mug</category>
+         <name>glass mug</name>
+         <color>brown,transparent</color>
+         <shape>cylinder</shape>
+         <material>glass</material>
+         <description>smoky translucent mug with rounded body and side handle</description>
+         <min_height>0.0900</min_height>
+         <max_height>0.0900</max_height>
+         <real_height>0.0900</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611160352</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.048214 -0.043833 -0.040628</min>
+            <max>0.063219 0.043790 0.049372</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/84d30ff685bd56589a323c9a1cb864ea/mug_032.usd b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mug_032.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mug_032.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23da12f323a9090cbd894e264b63f57e0c9bd966dca4dbbad5e2959476e83de6
+size 4843127
diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/textures/material_0.png b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/textures/material_0.png
@@ -0,0 +1,3 @@
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diff --git a/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/video.mp4 b/dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/video.mp4
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@@ -0,0 +1,3 @@
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+size 238877