diff --git a/.gitattributes b/.gitattributes
index 3c7a082a7b686de286f5ca3007cc9853d5b165ee..0f976ac98f47d55fccec6a7e52db95390b629d14 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4718,3 +4718,5 @@ dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mesh/coffee_cup_0
 dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/63a01f8c0e2c5431add57b070a9539c8.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mesh/bowl.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/mesh/bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mesh/mug_036.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mug_036.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mesh/material.mtl b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f1ca2bb6b3c93a862990e67d06055d9f28b895e1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mug_036_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_036_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mesh/material_0.png b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..732fb4be4f59a69f83616dd3c0172e5da703bdce
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bc2f819ae7355fe807f81dfc4ae45792b7d0c35e900236fbb38fb07cb78abae
+size 7678540
diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mesh/mug_036.glb b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mesh/mug_036.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d2ccb895e76cceeed916371529b4dbb034f0ef47
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mesh/mug_036.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d47faf0748a047f31ef935ffc4f9a17b8d4adac0bb25698bc9bdd9818a163f67
+size 11070352
diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mesh/mug_036.mtl b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mesh/mug_036.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d1a6e555d0f10e3cc13d39b5eed306cabcd700b6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mesh/mug_036.mtl
@@ -0,0 +1,6 @@
+newmtl mug_036_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/6287876678745242ab60a67cba9c15b7/mesh/mug_036.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mesh/mug_036.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f6db44a052e448b22f8f6ccd1a9be1d61b4ce23
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mesh/mug_036.obj
@@ -0,0 +1,103558 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mug_036_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mesh/mug_036_collision.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mesh/mug_036_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2bebc9216020c8c12b5c060b5523785fe5051db
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mesh/mug_036_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mesh/mug_036_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mesh/mug_036_geometry_Looks_material_0.png
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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+size 7678540
diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..732fb4be4f59a69f83616dd3c0172e5da703bdce
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+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bc2f819ae7355fe807f81dfc4ae45792b7d0c35e900236fbb38fb07cb78abae
+size 7678540
diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036.obj
new file mode 100644
index 0000000000000000000000000000000000000000..637f530715e4ef64a8ab23b2da42b3e092950095
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+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036.obj
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diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79af0f147aaec0c58d298d90bf456786b0a7580c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision.obj
@@ -0,0 +1,23836 @@
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diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_0.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b3c64aaa7dc0f9ed062ce4b25337315dec7d6e8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_1.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8f9bbb08dc8dbb097b212180f27e31efc5d1ab8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_10.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddf4221e419eafd34320a872f48745a07f961a27
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_11.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9767866513ed25357578088fa5ad8c2457278ff
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_11.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_12.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..979b6c2639c2bb1bec09897ecef7c6e1cc51a775
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_12.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_13.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4ea6b71d0c1f50e26754e20ee008ec4ff702c80
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_13.obj
@@ -0,0 +1,523 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_14.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a36be927c29abc5c8658398f7cd04822f4dca8b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_14.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_15.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a657322ecf35b7c557d20070d8cad5c174196b2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_15.obj
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diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_16.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ace86f5fb27a6d92c307e458674d18c8fa3403c8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_16.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_17.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18cef4b062863894e13b1a8855b9402f94c21c22
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_17.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_18.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d365e2f8108ca5f677e5f9390f912fc1477687f6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_18.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_19.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..768e9760c33d9760573c8394c914e6ddc7f86f26
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_19.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_2.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1981de1d8565579ffb25d28c78807ec1d178a243
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_20.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d2e4194a14f62bb347aef2b0c48e4acb87904ef
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_20.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_21.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17524ad7d918ee5972c338ea05df97efd06a83f9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_21.obj
@@ -0,0 +1,436 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_22.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2ede02ff52131b2b82b6bee20a01ffa821e0b2c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_22.obj
@@ -0,0 +1,442 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_23.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cc1c26cee63b366479db590ae49bdce07081400
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_23.obj
@@ -0,0 +1,592 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_24.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae77cdd31825981be866fb236f08a29d64fd8c7c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_24.obj
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diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_25.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a71bad6c36f59095558711e2bbad6ce6d2f8d172
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_25.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_26.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e50bb5f9d8ab20cfe1d56f4ff28c849ab8a6a397
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_26.obj
@@ -0,0 +1,610 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_27.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26e97ff2935c2bd11906bf95781a5058f715eee2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_27.obj
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diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_28.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8add0d3c18a3b87c2674e3e937ced026e5b6c54
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_28.obj
@@ -0,0 +1,415 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_29.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..313c402fce03b4d170d71a85f787bdb627fb6152
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_29.obj
@@ -0,0 +1,553 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_3.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45d76ff62d738a3331f417c48870990ff8f954a3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_3.obj
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diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_30.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57aa9a1c960dc3686a61ef2495f16280884be7c0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_30.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_31.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd629e970b0902e99ff5288a48c8c91d168ed9cd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_31.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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+f 32 43 34
+f 32 33 44
+f 32 44 45
+f 32 45 43
+f 34 46 47
+f 34 47 35
+f 34 43 46
+f 37 48 38
+f 38 49 39
+f 38 48 50
+f 38 50 51
+f 38 51 52
+f 38 52 53
+f 38 53 41
+f 38 41 49
+f 39 49 40
+f 40 49 41
+f 41 53 42
+f 42 53 54
+f 43 55 56
+f 43 56 57
+f 43 57 46
+f 43 45 58
+f 43 58 59
+f 43 59 55
+f 46 57 60
+f 46 60 47
+f 50 61 51
+f 51 61 62
+f 51 62 63
+f 51 63 64
+f 51 64 65
+f 51 65 66
+f 51 66 67
+f 51 67 52
+f 52 54 53
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+f 57 70 60
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+f 65 71 66
+f 66 71 67
+
diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_32.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba5cda95b61fc06272df874acfb34cc067367519
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_32.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.04399154 -0.01738421 0.03983970
+v 0.04493264 -0.01738421 0.04202682
+v 0.04358748 -0.01738421 0.04093180
+v 0.04358748 -0.01737911 0.03929657
+v 0.04358748 -0.00958671 0.02212378
+v 0.04936877 -0.00952391 0.03114383
+v 0.04936877 -0.01025069 0.03296593
+v 0.04936877 -0.01034238 0.03322289
+v 0.04936877 -0.01082294 0.03524649
+v 0.04936877 -0.01083483 0.03548301
+v 0.04936877 -0.01077371 0.03750660
+v 0.04478947 -0.01738422 0.04429862
+v 0.04358748 -0.01738423 0.04622293
+v 0.04358748 -0.00885146 0.02091489
+v 0.04936877 -0.00944071 0.03098907
+v 0.04936877 -0.01067862 0.03771685
+v 0.04488850 -0.01713121 0.04428694
+v 0.04471646 -0.01738422 0.04449134
+v 0.04936877 -0.00984997 0.03938712
+v 0.04384271 -0.01738423 0.04606525
+v 0.04358748 -0.01719235 0.04627257
+v 0.04358748 -0.00815695 0.02018488
+v 0.04469609 -0.00813828 0.02154271
+v 0.04936877 -0.00780210 0.02922244
+v 0.04588676 -0.00725360 0.02232236
+v 0.04555853 -0.00642325 0.02081562
+v 0.04570736 -0.01372324 0.04541993
+v 0.04395419 -0.01738423 0.04598641
+v 0.04936877 -0.00971414 0.03950392
+v 0.04400059 -0.01713122 0.04603021
+v 0.04358748 -0.01713122 0.04628718
+v 0.04358748 -0.00777659 0.01982572
+v 0.04936877 -0.00747437 0.02904723
+v 0.04358748 -0.00337525 0.01795106
+v 0.04576792 -0.00490350 0.02047398
+v 0.04584431 -0.01257536 0.04559805
+v 0.04936877 -0.00851192 0.04051719
+v 0.04936877 -0.00737253 0.04137276
+v 0.04936877 -0.00566939 0.04217871
+v 0.04464573 -0.01463170 0.04610030
+v 0.04456310 -0.01257536 0.04657919
+v 0.04358748 -0.01574901 0.04654998
+v 0.04936877 -0.00580009 0.02822671
+v 0.04358748 -0.00118817 0.01785179
+v 0.04591788 -0.00118817 0.02026667
+v 0.04584884 -0.00346694 0.02036303
+v 0.04936877 -0.00574405 0.02820043
+v 0.04609388 -0.01029828 0.04589299
+v 0.04936877 -0.00526696 0.04221959
+v 0.04643568 -0.00574412 0.04618501
+v 0.04629308 -0.00802290 0.04607988
+v 0.04456310 -0.01029828 0.04695004
+v 0.04358748 -0.01351269 0.04692375
+v 0.04358748 -0.00003689 0.01781675
+v 0.04591958 -0.00003689 0.02026083
+v 0.04936877 -0.00118820 0.02765440
+v 0.04936877 -0.00311038 0.02775951
+v 0.04936877 -0.00346697 0.02778287
+v 0.04936877 -0.00346703 0.04233348
+v 0.04773161 -0.00118826 0.04474545
+v 0.04653641 -0.00346704 0.04624342
+v 0.04456310 -0.00574412 0.04730339
+v 0.04456310 -0.00802290 0.04717782
+v 0.04358748 -0.01135956 0.04721869
+v 0.04358748 -0.00003700 0.04764505
+v 0.04936877 -0.00003692 0.02765148
+v 0.04936877 -0.00072293 0.02765148
+v 0.04936877 -0.00334987 0.04233932
+v 0.04772934 -0.00003698 0.04474253
+v 0.04658961 -0.00118827 0.04626971
+v 0.04936877 -0.00118826 0.04240065
+v 0.04936877 -0.00003698 0.04240357
+v 0.04458630 -0.00118827 0.04739977
+v 0.04434523 -0.00353157 0.04743188
+v 0.04358748 -0.00293216 0.04763920
+v 0.04358748 -0.00911644 0.04738222
+v 0.04358748 -0.00118828 0.04764798
+v 0.04458121 -0.00003699 0.04739685
+v 0.04658734 -0.00003699 0.04626679
+v 0.04559645 -0.00003699 0.04682744
+v 0.04358748 -0.00260275 0.04764504
+f 1 2 12
+f 1 12 18
+f 1 18 28
+f 1 28 20
+f 1 20 13
+f 1 13 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 3 13 21
+f 3 21 31
+f 3 31 42
+f 3 42 53
+f 3 53 64
+f 3 64 76
+f 3 76 75
+f 3 75 81
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+f 3 77 65
+f 3 65 54
+f 3 54 44
+f 3 44 34
+f 3 34 32
+f 3 32 22
+f 3 22 14
+f 3 14 5
+f 3 5 4
+f 5 14 15
+f 5 15 6
+f 6 15 24
+f 6 24 33
+f 6 33 43
+f 6 43 47
+f 6 47 58
+f 6 58 57
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+f 6 66 72
+f 6 72 71
+f 6 71 68
+f 6 68 59
+f 6 59 49
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+f 6 37 29
+f 6 29 19
+f 6 19 16
+f 6 16 11
+f 6 11 10
+f 6 10 9
+f 6 9 8
+f 6 8 7
+f 11 16 12
+f 12 17 18
+f 12 16 19
+f 12 19 17
+f 13 20 21
+f 14 22 23
+f 14 23 15
+f 15 23 25
+f 15 25 26
+f 15 26 24
+f 17 27 18
+f 17 19 27
+f 18 27 28
+f 19 29 27
+f 20 28 30
+f 20 30 21
+f 21 30 31
+f 22 26 23
+f 22 32 26
+f 23 26 25
+f 24 26 33
+f 26 32 34
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+f 26 35 33
+f 27 36 30
+f 27 30 28
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+f 30 40 41
+f 30 41 31
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+f 34 46 35
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+f 39 49 50
+f 39 50 51
+f 39 51 48
+f 40 48 41
+f 41 52 53
+f 41 53 42
+f 41 48 52
+f 44 54 45
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+f 45 55 56
+f 45 56 57
+f 45 57 58
+f 45 58 46
+f 46 58 47
+f 48 51 52
+f 49 59 60
+f 49 60 61
+f 49 61 50
+f 50 61 62
+f 50 62 63
+f 50 63 51
+f 51 63 52
+f 52 63 64
+f 52 64 53
+f 54 65 78
+f 54 78 80
+f 54 80 79
+f 54 79 69
+f 54 69 72
+f 54 72 66
+f 54 66 55
+f 55 66 67
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+f 59 68 60
+f 60 69 79
+f 60 79 70
+f 60 70 61
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+f 62 73 74
+f 62 74 75
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+f 63 76 64
+f 65 77 73
+f 65 73 78
+f 70 79 80
+f 70 80 73
+f 73 77 81
+f 73 81 74
+f 73 80 78
+f 74 81 75
+
diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_33.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50383a66104beabc1c8ee0d325df0c51b8f95ad5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_33.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.02015908 -0.05053066 -0.01441877
+v -0.02075837 -0.05022729 -0.01264540
+v -0.02103077 -0.05030644 -0.01441876
+v -0.02015908 -0.04276930 -0.01441874
+v -0.02015908 -0.04850137 0.00932528
+v -0.02105256 -0.05030078 -0.01441876
+v -0.02015908 -0.04181212 -0.00550077
+v -0.03605953 -0.03415059 -0.01441871
+v -0.03605953 -0.03292395 -0.00543567
+v -0.03605953 -0.03233231 -0.00082445
+v -0.02015908 -0.04054593 0.00932531
+v -0.02139967 -0.04815089 0.00932528
+v -0.02216707 -0.04997291 -0.01441876
+v -0.02015908 -0.04158601 -0.00317425
+v -0.03605953 -0.03128279 0.00932535
+v -0.03605953 -0.04344764 -0.01441874
+v -0.02015908 -0.04059680 0.00867221
+v -0.02254220 -0.04779853 0.00932528
+v -0.02389954 -0.04940386 -0.01441876
+v -0.02015908 -0.04116960 0.00143929
+v -0.03605953 -0.04097366 0.00932531
+v -0.02015908 -0.04064014 0.00812370
+v -0.03527190 -0.04395075 -0.01441874
+v -0.03333085 -0.04277880 0.00932530
+v -0.03509601 -0.04163881 0.00932531
+v -0.02395558 -0.04729166 0.00932529
+v -0.02395558 -0.04938502 -0.01441876
+v -0.03524232 -0.04396959 -0.01441874
+v -0.03218832 -0.04346845 0.00932530
+v -0.03335887 -0.04511147 -0.01441875
+v -0.02502650 -0.04687712 0.00932529
+v -0.02624375 -0.04854274 -0.01441876
+v -0.03080608 -0.04422781 0.00932530
+v -0.03222256 -0.04575778 -0.01441875
+v -0.02624063 -0.04640228 0.00932529
+v -0.02747656 -0.04792470 -0.01294290
+v -0.02760575 -0.04800196 -0.01441876
+v -0.02887281 -0.04522649 0.00932529
+v -0.03081075 -0.04649076 -0.01441875
+v -0.02773184 -0.04576916 0.00932529
+v -0.02765556 -0.04798123 -0.01441876
+v -0.03074382 -0.04652468 -0.01441875
+v -0.02876696 -0.04748378 -0.01441875
+f 1 2 3
+f 1 3 6
+f 1 6 13
+f 1 13 19
+f 1 19 27
+f 1 27 32
+f 1 32 37
+f 1 37 41
+f 1 41 43
+f 1 43 42
+f 1 42 39
+f 1 39 34
+f 1 34 30
+f 1 30 28
+f 1 28 23
+f 1 23 16
+f 1 16 8
+f 1 8 4
+f 1 4 7
+f 1 7 14
+f 1 14 20
+f 1 20 22
+f 1 22 17
+f 1 17 11
+f 1 11 5
+f 1 5 2
+f 2 6 3
+f 2 5 6
+f 4 8 9
+f 4 9 10
+f 4 10 7
+f 5 11 15
+f 5 15 21
+f 5 21 25
+f 5 25 24
+f 5 24 29
+f 5 29 33
+f 5 33 38
+f 5 38 40
+f 5 40 35
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+f 5 31 26
+f 5 26 18
+f 5 18 12
+f 5 12 6
+f 6 12 13
+f 7 10 15
+f 7 15 14
+f 8 16 21
+f 8 21 15
+f 8 15 10
+f 8 10 9
+f 11 17 15
+f 12 18 13
+f 13 18 19
+f 14 15 20
+f 15 17 22
+f 15 22 20
+f 16 23 24
+f 16 24 25
+f 16 25 21
+f 18 26 27
+f 18 27 19
+f 23 28 24
+f 24 28 30
+f 24 30 29
+f 26 31 32
+f 26 32 27
+f 29 30 34
+f 29 34 33
+f 31 35 32
+f 32 36 37
+f 32 35 36
+f 33 34 39
+f 33 39 38
+f 35 40 36
+f 36 41 37
+f 36 40 41
+f 38 39 42
+f 38 42 43
+f 38 43 40
+f 40 43 41
+
diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_34.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4478a61ab94a9b834717259ead8fd1c0d6d65c7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_34.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.03815438 -0.00003676 -0.01682570
+v 0.03551701 0.01519372 -0.01682564
+v 0.04374697 -0.00003676 -0.01682570
+v 0.03651625 -0.00003684 0.00408622
+v 0.03360143 0.01519364 0.00635988
+v 0.03364820 0.01519364 0.00577682
+v 0.04361302 0.01519372 -0.01682564
+v 0.04374697 0.01480014 -0.01682565
+v 0.04374697 -0.00003683 0.00358133
+v 0.03637806 -0.00003684 0.00586471
+v 0.03343028 0.01519363 0.00854879
+v 0.04362153 0.01519372 -0.01673444
+v 0.04374697 0.01482250 -0.01673445
+v 0.04374697 0.00109174 0.00359436
+v 0.04318462 0.00109169 0.01645096
+v 0.04318356 -0.00003688 0.01645096
+v 0.03629302 -0.00003685 0.00700477
+v 0.03328784 0.01519362 0.01041523
+v 0.04349184 0.01519371 -0.01447387
+v 0.04374697 0.01446916 -0.01447388
+v 0.04374697 0.00336975 0.00327190
+v 0.04316655 0.00145993 0.01645097
+v 0.04374697 0.00559857 0.00234358
+v 0.04374697 0.00599215 0.00215465
+v 0.04374697 0.00811512 0.00078334
+v 0.03566796 -0.00003688 0.01645096
+v 0.03621010 -0.00003685 0.00812528
+v 0.03612612 -0.00003685 0.00926534
+v 0.03604533 -0.00003686 0.01038259
+v 0.03312945 0.01519361 0.01264323
+v 0.04374697 0.01446021 -0.01443479
+v 0.04068332 0.01519360 0.01645102
+v 0.04306663 0.00334883 0.01645097
+v 0.04374697 0.00981767 -0.00116127
+v 0.03288707 0.01519360 0.01645102
+v 0.03575512 -0.00003687 0.01490374
+v 0.03596773 -0.00003686 0.01152591
+v 0.03589332 -0.00003687 0.01264317
+v 0.03298062 0.01519361 0.01490380
+v 0.04085553 0.01466733 0.01645101
+v 0.04374697 0.01381914 -0.01222959
+v 0.04299434 0.00412854 0.01645098
+v 0.04374697 0.01024704 -0.00185833
+v 0.03582316 -0.00003687 0.01378648
+v 0.04096715 0.01428866 0.01645101
+v 0.04374697 0.01289182 -0.00907652
+v 0.04264673 0.00636779 0.01645098
+v 0.04374697 0.01076586 -0.00297885
+v 0.04199084 0.01020076 0.01645100
+v 0.04227361 0.00864432 0.01645099
+v 0.04240011 0.00792275 0.01645099
+v 0.04114999 0.01366399 0.01645101
+v 0.04131370 0.01304231 0.01645101
+v 0.04142212 0.01261891 0.01645101
+v 0.04182608 0.01092233 0.01645100
+f 1 2 7
+f 1 7 8
+f 1 8 3
+f 1 3 9
+f 1 9 16
+f 1 16 26
+f 1 26 36
+f 1 36 44
+f 1 44 38
+f 1 38 37
+f 1 37 29
+f 1 29 28
+f 1 28 27
+f 1 27 17
+f 1 17 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 5
+f 2 5 11
+f 2 11 18
+f 2 18 30
+f 2 30 39
+f 2 39 35
+f 2 35 32
+f 2 32 19
+f 2 19 12
+f 2 12 7
+f 3 8 13
+f 3 13 20
+f 3 20 31
+f 3 31 41
+f 3 41 46
+f 3 46 48
+f 3 48 43
+f 3 43 34
+f 3 34 25
+f 3 25 24
+f 3 24 23
+f 3 23 21
+f 3 21 14
+f 3 14 9
+f 4 10 11
+f 4 11 5
+f 7 12 8
+f 8 12 13
+f 9 14 15
+f 9 15 16
+f 10 17 18
+f 10 18 11
+f 12 19 20
+f 12 20 13
+f 14 21 15
+f 15 22 33
+f 15 33 42
+f 15 42 47
+f 15 47 51
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+f 15 49 55
+f 15 55 54
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+f 15 52 45
+f 15 45 40
+f 15 40 32
+f 15 32 35
+f 15 35 26
+f 15 26 16
+f 15 21 23
+f 15 23 24
+f 15 24 25
+f 15 25 22
+f 17 27 18
+f 18 27 28
+f 18 28 29
+f 18 29 30
+f 19 31 20
+f 19 32 31
+f 22 25 33
+f 25 34 33
+f 26 35 36
+f 29 37 30
+f 30 37 38
+f 30 38 39
+f 31 32 40
+f 31 40 41
+f 33 34 42
+f 34 43 42
+f 35 39 36
+f 36 39 44
+f 38 44 39
+f 40 45 46
+f 40 46 41
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+f 43 49 50
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+f 43 51 47
+f 45 52 46
+f 46 52 48
+f 48 52 53
+f 48 53 54
+f 48 54 55
+f 48 55 49
+
diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_35.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d7fa92619ff70977aa0120843a02d71fcadabe5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_35.obj
@@ -0,0 +1,643 @@
+# https://github.com/mikedh/trimesh
+v 0.07889195 -0.00003686 0.01157404
+v 0.07888846 -0.00118747 0.01157404
+v 0.07889020 -0.00003686 0.01150365
+v 0.06544426 -0.00003686 0.01157404
+v 0.07888147 -0.00238572 0.01157403
+v 0.07885874 -0.00118747 0.01038378
+v 0.07886049 -0.00003686 0.01038378
+v 0.06544951 -0.00118747 0.01157404
+v 0.06103802 -0.00003679 -0.00702856
+v 0.06103802 -0.00118740 -0.00702856
+v 0.07887098 -0.00346590 0.01157403
+v 0.07883602 -0.00346590 0.01038377
+v 0.07867872 -0.00118746 0.00812485
+v 0.07877135 -0.00003685 0.00924152
+v 0.06551942 -0.00226765 0.01157403
+v 0.06103802 -0.00267563 -0.00715975
+v 0.06103802 -0.00346583 -0.00724614
+v 0.06103802 -0.00003674 -0.02111329
+v 0.07885350 -0.00466415 0.01157402
+v 0.07875038 -0.00574227 0.01038376
+v 0.07863327 -0.00346589 0.00812484
+v 0.07835363 -0.00118745 0.00586272
+v 0.07851966 -0.00003685 0.00698258
+v 0.07868222 -0.00003685 0.00812485
+v 0.06559807 -0.00346590 0.01157403
+v 0.06103802 -0.00562102 -0.00793407
+v 0.06278059 -0.00003674 -0.02054696
+v 0.06277360 -0.00118735 -0.02054696
+v 0.06103802 -0.00118735 -0.02111009
+v 0.07881155 -0.00574227 0.01157402
+v 0.07825400 -0.00802070 0.01038375
+v 0.07848646 -0.00574226 0.00812483
+v 0.07858259 -0.00694051 0.01157401
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diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_36.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3468ba99b342a528b7e9065c4e3db58e836ccec8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_36.obj
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diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_37.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8d97957e6fdf48417a57c03304db85221346a15
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_37.obj
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diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_38.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4535590c4e5f0e3a7202e878493347ab2053e5c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_38.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_39.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcf937f9cf227d51dc04edaea5963b4f730a7be6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_39.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_4.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43be31cbb806900ff0f26e24be93864729d4edc5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_4.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_40.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8051c6719636f658dca7a4320d2323b6b7dcd18
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_40.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_41.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b6045d0f3725df6e4e009397b522c9921da8a54
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_41.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_42.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9989946ad0ab92a1f4371543bc7f5de00520385c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_42.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.04374781 -0.00003531 -0.01682570
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+v 0.05235406 -0.00003531 -0.01682570
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+
diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_43.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e9563c1a38af15ef7a83fe902cc6c9bfb2c3fc4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_43.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_44.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43c63a2a43894cccc53f1796aebdf13640c60918
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_44.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v 0.06371873 0.00049414 0.04135917
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diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_45.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b05ce5fbdddfcf13ee71d630811db2d26651ae0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_45.obj
@@ -0,0 +1,307 @@
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diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_46.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7eff8bb066d6c640ba3574921d0f78fd612b1dd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_46.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_47.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e140ceda26a62ee8719b87e9b95da8c68486cd78
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_47.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_48.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8da4102887820f8e365172ee808f182c82b2f671
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_48.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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+v 0.05826780 0.01102521 -0.01673615
+v 0.05235490 0.01109169 -0.01677277
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+
diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_49.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fbcce7ac0dc6993b4f9a21f90c5e904a8f6ed2f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_49.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
+v 0.06136226 -0.00003574 -0.00643428
+v 0.06535263 -0.00003580 0.01038454
+v 0.06535263 -0.00003260 0.01039278
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+v 0.07500902 0.00109057 -0.00559260
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diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_5.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1d46926a1c480a2bc56df342c95a1588f40c43d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_5.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_50.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68ffed5d255f5f69fb3064ce5d36d63c5540366e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_50.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_51.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47d593600ddeec90fbd6cdf88ec2c9a59e4e71fa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_51.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_52.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25b6aa98f00cef97b25e4dda7405efa79ec49666
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_52.obj
@@ -0,0 +1,1042 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_53.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..362eb6ca1390b6c3c5be0d6cfaed6a1f94cc95c7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_53.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.04936700 -0.00003677 -0.01449513
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+v 0.04936700 -0.00003674 -0.02215178
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+
diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_54.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60fcf46fe5850d92973563c5b513ec22b7b27de7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_54.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_55.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0af4ce3fe7f57ab4973e1feebb0e650590cb439
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_55.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v 0.06103513 -0.00118797 -0.00702897
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+
diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_56.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45628a82a2abc397de17c384c9d02871e5d083fb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_56.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v -0.05611126 -0.01737040 -0.01469773
+v -0.04814523 -0.01737040 -0.01469773
+v -0.05610140 -0.01737040 -0.01445320
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+v -0.04478474 -0.01737056 0.03072247
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+
diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_57.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..758b65cb0843b1a2f4fd64d5d966b7d5fdbe2d8a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_57.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.03994015 0.02403907 -0.01682561
+v 0.03999625 0.02393476 -0.01682561
+v 0.03993844 0.02403907 -0.01696972
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+
diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_58.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6f914aa143d7f60e8b45c2ba525919489cc7829
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_58.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v 0.04321977 -0.00003688 0.01678455
+v 0.04321977 0.00109169 0.01676942
+v 0.04591918 -0.00003689 0.02026134
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diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_59.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f3933ec0413c721f880a6d7297dc9e155cd23fe
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_59.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_6.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bc87f284be9ef401ea729d930a956391a2ab144
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_6.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_60.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b55d8cdd6d8abb7f319736ac0c46f1c2014930f6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_60.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_61.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c60c47ed10598d8e42b67828254dd594cf1cda4c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_61.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_7.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b4b44247dd6d2dc03f87787cf24bc3ee26c3090
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_7.obj
@@ -0,0 +1,493 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_8.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fa2b246fa2dd02acd30c7df085a0a4169fddf89
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_8.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_9.obj b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8aea90b7b8b4f43825fd4d2f9b00fa00370335f2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mesh/mug_036_collision_9.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mug_036.xml b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mug_036.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e8209d3cfba7bd073350d18a04f1c74cdf57390f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mjcf/mug_036.xml
@@ -0,0 +1,138 @@
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+      <geom type="mesh" mesh="collision_mesh_0_55" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_56" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_57" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_58" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_59" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_60" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_61" 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/6287876678745242ab60a67cba9c15b7/mug_036.urdf b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mug_036.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..608205bc43e4e37f7f03c8cf0b03566f9fbd90b3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mug_036.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mug_036">
+   <link name="mug_036">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mug_036.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_036_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>6287876678745242ab60a67cba9c15b7</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>mug</category>
+         <name>green mug</name>
+         <color>green</color>
+         <shape>cylinder</shape>
+         <material>ceramic</material>
+         <description>plain green mug with rounded body and loop 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>20260611160548</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.060045 -0.053466 -0.042470</min>
+            <max>0.078581 0.053368 0.047530</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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/6287876678745242ab60a67cba9c15b7/mug_036.usd b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mug_036.usd
new file mode 100644
index 0000000000000000000000000000000000000000..1821ad175ccbba0ddc86f71c8ae031d43bc837b0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/mug_036.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a13c14d69efc71aef5e5a8ac0ed513092e2d81f3ba6ce757ead3bd7ff9b469d3
+size 4951390
diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/textures/material_0.png b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..732fb4be4f59a69f83616dd3c0172e5da703bdce
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bc2f819ae7355fe807f81dfc4ae45792b7d0c35e900236fbb38fb07cb78abae
+size 7678540
diff --git a/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/video.mp4 b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6287876678745242ab60a67cba9c15b7/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f40248ebad2d145acd3dcde680d5b7f70560118d1ce3f5d5547e286c58994794
+size 122618