diff --git a/.gitattributes b/.gitattributes
index a33cd2d4d7133eae29a01af8719ab4c35a11004b..ab91c5b570428567a105152de13dca49342e7b5e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4757,5 +4757,5 @@ dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mesh/mug_032.glb
 dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mug_032.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mesh/mug_008.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mug_008.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/85e39841ef325521ab8037ebf023c400/mesh/thermos_014.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/85e39841ef325521ab8037ebf023c400/thermos_014.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mesh/mug_016.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mug_016.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mesh/material.mtl b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..81f0543607de9650fa71fae6ac8c7b09362682df
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mug_016_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_016_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mesh/material_0.png b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c5145aec9f22d121f23a26fa90d1024442c023e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:358cd2bb880a7bcc5111df05258ef69f23c07757f3408d3d268cf0a7fda898a1
+size 6727283
diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mesh/mug_016.glb b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mesh/mug_016.glb
new file mode 100644
index 0000000000000000000000000000000000000000..e6b97354fafaa4d5a845f47bd0b9c65069306475
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mesh/mug_016.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf72b8b00922eccc7d0269110095369eb7e783c2b31f4d12f746d4e487b16662
+size 9927716
diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mesh/mug_016.mtl b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mesh/mug_016.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..79180236b31e8349a8b10256ea9b2306fed82366
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mesh/mug_016.mtl
@@ -0,0 +1,6 @@
+newmtl mug_016_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/89d12cf968115c49949213983c66b5da/mesh/mug_016.obj b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mesh/mug_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7ffc776825a3113e1e51b405f8d26487de23210
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mesh/mug_016.obj
@@ -0,0 +1,103910 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mug_016_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mesh/mug_016_collision.obj b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mesh/mug_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e546850a06e5f7c1e47663682c39132f97e6b970
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mesh/mug_016_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016.obj b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016.obj
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diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision.obj b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8edc0882f9e267b3dccde4000f15d52d666541e4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision.obj
@@ -0,0 +1,18239 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_0.obj b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5673ff22cb0f9dcb40c55ec87aa9fd50c4792837
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_1.obj b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1e03aeac7550705f8e390d2275bb14f72240371
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_1.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.00201102 -0.02197658 -0.03123473
+v 0.01556587 -0.02197657 -0.03187678
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+
diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_10.obj b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2d5fcd3d6be6e88ee7d33d931cceab233bc6a02
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_10.obj
@@ -0,0 +1,727 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_11.obj b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0581e4c7175f457ecc2d8690ee4417f2a4cdd45a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_11.obj
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diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_12.obj b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93a96a2a3ea5efc9d0de5a1b1877618e6ac00edc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_12.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_13.obj b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4a2546264ddcbfe167d43d33515cd012c6d5266
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_13.obj
@@ -0,0 +1,628 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_14.obj b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29d50d234edf314c7659659023e856560154feae
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_14.obj
@@ -0,0 +1,280 @@
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diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_15.obj b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f573f8ae25a05becb51e3472dbeb3a40567b052
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_15.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_16.obj b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1b449cb8d59060b88d14697118fcb4f77d10e3e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_16.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_17.obj b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38b1cd39e495c716676771171cad8eca66c0914e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_17.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_18.obj b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cfedb558940fa60fcb5b86ca063936e2b484a9a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_18.obj
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diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_19.obj b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6e5b37042eaa865a7d24723e6bca72459eab64e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_19.obj
@@ -0,0 +1,493 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_2.obj b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e66d70a31b2ad79998811e91fda809bbda92d815
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_2.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_20.obj b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2a1dab4c3e649c158f616c5adb0c036d29c63c5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_20.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_21.obj b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8f9e321fbf1c015f49e742dbcdcdddb82cc2eed
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_21.obj
@@ -0,0 +1,565 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_22.obj b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b71b411257ecd0c0310ceaf8ce09f8ac40778f89
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_22.obj
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diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_23.obj b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58370310d57828f42ca2a2175cf89aad6cc432ad
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_23.obj
@@ -0,0 +1,523 @@
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diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_24.obj b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa1c8bbabc070451116a49e262b6a102cff24cbf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_24.obj
@@ -0,0 +1,427 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_25.obj b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6bb94b725bbcacbca9982376a6d915f462f9367
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_25.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v 0.00926087 0.00151733 -0.03129197
+v 0.01933127 0.00151734 -0.03170662
+v 0.00926087 0.00151731 -0.02515958
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+v 0.00926087 0.01177823 -0.02558679
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+
diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_26.obj b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bee5e8862bb52dac582d1da2c407f432b559081
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_26.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.00926087 0.01944343 -0.02512138
+v 0.00038661 0.02174523 -0.02512137
+v 0.00926087 0.02812853 -0.02512135
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+
diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_27.obj b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..033dfea13b799795fb0d417adb8cc3ce87ee5d41
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_27.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v -0.00025705 0.04015614 0.03420076
+v -0.00105944 0.04015614 0.03425127
+v -0.00025705 0.03935947 0.03418887
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diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_28.obj b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..756ed410eaf0bf2c0279d5f6b97b7194cd69722e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_28.obj
@@ -0,0 +1,454 @@
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diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_29.obj b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cefd70e02337830abbbb5327dae29d47da47670
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_29.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_3.obj b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f46d5d85a0813e63d0dfa40f80c66ab79f49bbc3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_3.obj
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diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_30.obj b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46d906e97abf2d3dc46eb8a1ac611947adcb4d32
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_30.obj
@@ -0,0 +1,436 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_31.obj b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18f0532bab4db41721cbb5904f9508026ce182e4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_31.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_32.obj b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d087054e968f18d89c0799350ad32a86323e777
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_32.obj
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diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_33.obj b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..195b2082a04fa77d9e2c341b7d0de91205410bf8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_33.obj
@@ -0,0 +1,463 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_34.obj b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f93f46e500ca0040493ff3a2f9730292e87a935a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_34.obj
@@ -0,0 +1,217 @@
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diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_35.obj b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59f34877480fc49c282cfd013c394216f62c5367
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_35.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_36.obj b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9234ee331d9bdcb9672d4859267c963ffe2e8942
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_36.obj
@@ -0,0 +1,979 @@
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diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_37.obj b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e85e3c5c835751a42ef5d8f29b6c85c1a3e01a6e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_37.obj
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diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_38.obj b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbc696e45a826554ca25b4ddc53704005b6ac8d3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_38.obj
@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_39.obj b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..178a74b277165258213925b486b624ccb2cf559f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_39.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.00926087 0.02085140 -0.02409238
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+v 0.00926087 0.02193206 -0.02147261
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diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_4.obj b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb63d21ee84b69cad2962cc44ee85ce8b47d82a8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_4.obj
@@ -0,0 +1,796 @@
+# https://github.com/mikedh/trimesh
+v -0.00973755 0.02847775 -0.02305902
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diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_40.obj b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31ae8b064c1bb5f96499effe3a1f969a300eefd1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_40.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_41.obj b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55f9cc981c79eddf3acb61fbb1f372db6a454c0c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_41.obj
@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_42.obj b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b3eaf8594dcc3ae9975f28b5eae507a0e2a0160
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_42.obj
@@ -0,0 +1,502 @@
+# https://github.com/mikedh/trimesh
+v -0.00105954 0.04761332 0.02434274
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diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_43.obj b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18ec87d4d64faad4f78b569c2d8ca54819143ab4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_43.obj
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diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_44.obj b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6feb65be08f6e87be43db27608c317d0277e34f7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_44.obj
@@ -0,0 +1,304 @@
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diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_5.obj b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02730ef7815ee59ad471365c45432ad0e990a938
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_5.obj
@@ -0,0 +1,820 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_6.obj b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0db3a8b33ec0e13286d96f89385ec5ac44a23641
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_6.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_7.obj b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8acb3eb246e1af4c983a5c61216c6b146a076781
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_7.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_8.obj b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9530329e074abd8afeaa5f497d5ee183f5a9eb96
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_8.obj
@@ -0,0 +1,181 @@
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diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_9.obj b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c25ab08000a7ff90a51b123e4e16ef0a1ff4bfe
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mesh/mug_016_collision_9.obj
@@ -0,0 +1,628 @@
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diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mug_016.xml b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mug_016.xml
new file mode 100644
index 0000000000000000000000000000000000000000..38c7709754b30749b937d85b26aec1b8b3563d13
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mjcf/mug_016.xml
@@ -0,0 +1,104 @@
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+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mug_016.urdf b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mug_016.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..944caa3bab0964e2f249c83e8b58225f1986c262
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mug_016.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mug_016">
+   <link name="mug_016">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mug_016.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_016_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.55</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>89d12cf968115c49949213983c66b5da</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>plain gray cylindrical mug with rounded side handle</description>
+         <min_height>0.0806</min_height>
+         <max_height>0.0806</max_height>
+         <real_height>0.0806</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518192058</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.035590 -0.038118 -0.035205</min>
+            <max>0.035057 0.059319 0.045363</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mug_016.usd b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mug_016.usd
new file mode 100644
index 0000000000000000000000000000000000000000..428c7f8c1f6d7912e196a251765180de8af96f9f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/mug_016.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd09c33a837bbff44c101a133439d7d4a3b88b839da270b986a47e4ba1daac55
+size 4823897
diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/textures/material_0.png b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c5145aec9f22d121f23a26fa90d1024442c023e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:358cd2bb880a7bcc5111df05258ef69f23c07757f3408d3d268cf0a7fda898a1
+size 6727283
diff --git a/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/video.mp4 b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6d9751b596e1afb9299dd68273c9f92ba13f7daa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/89d12cf968115c49949213983c66b5da/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e3ec053f9ea0ec7b9a2484b2b323ef2d71a306e4ccde3a602675ad5e377d96d
+size 128017