diff --git a/.gitattributes b/.gitattributes
index 7984792e0a24bf16444871ece91fe676c979db91..975ecddb2301afe2996ecca2072a16a9615f5b09 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4810,3 +4810,5 @@ dataset/kitchen_supplies/ware/c533dfb8dbac52dc973d704843b4409d/mjcf/mesh/baby_bo
 dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/c82197c44db05605a21ccd4b4e1cecb3.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mesh/cup.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/c82197c44db05605a21ccd4b4e1cecb3/mesh/cup_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mesh/mug_006.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mug_006.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mesh/material.mtl b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..668339d2b8cdcb275c96f03f69a9c1707c84038c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mug_006_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_006_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mesh/material_0.png b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..97f54ab5e47b7086c0e94cd7330a9f0f89d473a5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a98831b76139b8a7b8bf829c04f6ebb0c0d7ca6eefb3b78e8cf410448de9e83c
+size 8120359
diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mesh/mug_006.glb b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mesh/mug_006.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f83cd31db3f915c2a6a8af4e661f66ee207e5b5f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mesh/mug_006.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8457a1e48d319d27a5adfd305494a42d8bdb1bbe98da0fe5be6385246f31f821
+size 11440232
diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mesh/mug_006.mtl b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mesh/mug_006.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..509067dcbe17083d8e6f342d7af5eafdcc55872a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mesh/mug_006.mtl
@@ -0,0 +1,6 @@
+newmtl mug_006_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/c79a5a266ea55fcf9ed1762656f760ae/mesh/mug_006.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mesh/mug_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..006d0d83113843f804f3e355a869225299b18226
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mesh/mug_006.obj
@@ -0,0 +1,104622 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mug_006_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mesh/mug_006_collision.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mesh/mug_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a03d100f314a45e316911714171b311c35e276a0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mesh/mug_006_collision.obj
@@ -0,0 +1,19466 @@
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mesh/mug_006_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mesh/mug_006_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..97f54ab5e47b7086c0e94cd7330a9f0f89d473a5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mesh/mug_006_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a98831b76139b8a7b8bf829c04f6ebb0c0d7ca6eefb3b78e8cf410448de9e83c
+size 8120359
diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..97f54ab5e47b7086c0e94cd7330a9f0f89d473a5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a98831b76139b8a7b8bf829c04f6ebb0c0d7ca6eefb3b78e8cf410448de9e83c
+size 8120359
diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d16f1be763cdfec309f809c3f6b94f0b0b38c71
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fc975f04f807417f4c3f02e54cf533f832d59bc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision.obj
@@ -0,0 +1,19466 @@
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_0.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65a892ac995ccb2f2e514a619dbebf942ce1469e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_0.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_1.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79b4d3d60205fa11b558232c9c1ee48f2b11b5e0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_1.obj
@@ -0,0 +1,436 @@
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_10.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..202f594560ec99accb705108acfe4dc90c53fa47
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_11.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..689af9253ee04499f3495695759e0658da9431d8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_11.obj
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_12.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b738c88cc32e532f62e6ddeda1c923a46932c3e4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_12.obj
@@ -0,0 +1,415 @@
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_13.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79a033ce74bd97473ff8648c1f5e7b0c24effb46
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_13.obj
@@ -0,0 +1,526 @@
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_14.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6642efc99b751b38dcc515645a27d913a6ee2e73
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_14.obj
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_15.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28a4bb333c65d7372f4175f9027adb29810d3277
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_15.obj
@@ -0,0 +1,517 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_16.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e75e755d0438027f23ca7fd17a990270938815b1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_16.obj
@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_17.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe125a9325fa1ba54246df492faa8c79a9369377
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_17.obj
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_18.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1abc6b8101a488377ecb369c8a431e47f26e3f6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_18.obj
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_19.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f034cc1887c842103de21b9ce5044e21fb812885
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_19.obj
@@ -0,0 +1,496 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_2.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2397b1b7aaf59c96cf2a90a5d6d9aba0bcc006e2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_2.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_20.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa025b79f4b3ec9ab7784dcbb2f5163dee4a2426
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_20.obj
@@ -0,0 +1,319 @@
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_21.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9892da4eda634ff0db5403762840856022c0b05
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_21.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_22.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e597981571b28df650c15ee9bb935fc119474fda
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_22.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_23.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6de61086c0f70f00ed1dde9b7680dbf63a27c87
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_23.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_24.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..055d5537895b13dd188cd042898c63a693a0da79
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_24.obj
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_25.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d605369753e8b1059901bedc9e3f16ad2742fc3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_25.obj
@@ -0,0 +1,529 @@
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_26.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b26fcb689d1e4e352fac8e33f996fdc917f8fc4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_26.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.00048774 -0.03024200 -0.03694763
+v -0.00048774 -0.02955300 -0.04007081
+v -0.00046875 -0.02955300 -0.04006525
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_27.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5117709603de7c26f992629a5d296b96ac5692e5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_27.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
+v 0.01469278 0.01958790 -0.03002491
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_28.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6186ac017a4ad29226d93563f67880bf2b38215
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_28.obj
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_29.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fde55da155ec5129a6abbea0e290fd846216564a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_29.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.01918514 -0.02688923 -0.03603066
+v -0.01918514 -0.02622980 -0.03712410
+v -0.01824258 -0.02683237 -0.03712410
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+v -0.00428543 -0.03042319 -0.03712411
+v -0.00428543 -0.03095188 -0.03603067
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+
diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_3.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a94ebb17f9fe1f95448865c99cfc03c6f8c3ce49
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_3.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v -0.00048775 -0.03994033 -0.02598111
+v -0.00048775 -0.03984745 -0.02631714
+v -0.00033910 -0.03984529 -0.02628943
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_30.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61cbb54bb679cd6b6c45fc826ed88b4615bd0605
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_30.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
+v 0.02045375 0.02371296 -0.02598137
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_31.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..525913cfe3c68a2bf9ad156e91419da02f9b987a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_31.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_32.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2bfe6f06b10ba94f7f85afb966cefdd0f93d42c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_32.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_33.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81f5848d34638bb1b3363971b6ed9043364640e1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_33.obj
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_34.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d388123120780a4132cac0010822adb21afc8a1b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_34.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_35.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76b1db5d2b1c32c013a49afc527adddbf63bf430
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_35.obj
@@ -0,0 +1,484 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_36.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88c7c37194556bb8a6e705feb0d82a4d3a79531e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_36.obj
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_37.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..885dfa0403426dfd64d1244685babbcde8807cc6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_37.obj
@@ -0,0 +1,424 @@
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_38.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c0fd678baed08f03108f6441a0651928f5cabd1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_38.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_39.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f726be31b937cd462edd082cd507ea7ae14aa0ca
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_39.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_4.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..819f0a34a2a53b51be7b58ff4edbbc23b127285a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_4.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_40.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb301845dd3125b9f951a09f36f68ecac2d60d44
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_40.obj
@@ -0,0 +1,406 @@
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_41.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea26997fec2d97dc52939163431af1ec5f3c376a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_41.obj
@@ -0,0 +1,247 @@
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_42.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56f4a4715e2f04b922699bb2f3126f7f2e830017
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_42.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_43.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0f8d7bf697d64200aea764595135399908f4a35
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_43.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_44.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcb3522129f7b6063b35a334d36056d3a855b36c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_44.obj
@@ -0,0 +1,574 @@
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_45.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..207b73a8e4cdcd228273ff7dd90a143567c422a9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_45.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_46.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4fbc8547958453300e0806bfd467ceb12321e92
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_46.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_47.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a76fe87f14cd2803e4e2a616823ab845c7779c13
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_47.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_48.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36b65fde6f730e16962205dd02dc479e85215556
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_48.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_49.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31d0726c1b4d7b2fc8ef82f58689e76fecf0249b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_49.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_5.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc16ca222705ea203aa88672d669305fec44ed10
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_5.obj
@@ -0,0 +1,397 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_50.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d89293fd99cb5a90843e968902ec93364d9e4921
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_50.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_6.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3c806aad09923dccdee24e5029b40e0c637cb93
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_6.obj
@@ -0,0 +1,757 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_7.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db64ff1f37aeec068b7c653c156cdcb9d310d1d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_8.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03b1930fcc7945030df3489de6cabadbdbdb94b8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_8.obj
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diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_9.obj b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09cbc710b9c49b7591c092c42af15c5768e7d0cd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mesh/mug_006_collision_9.obj
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+f 205 210 211
+f 207 212 208
+f 207 213 212
+f 210 214 211
+f 210 215 214
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+f 213 216 215
+f 214 215 216
+
diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mug_006.xml b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mug_006.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e06620add8b1938c34f79012e5ce686f0abc6554
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mjcf/mug_006.xml
@@ -0,0 +1,116 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mug_006">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/mug_006.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/mug_006_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mug_006_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/mug_006_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/mug_006_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/mug_006_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/mug_006_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/mug_006_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/mug_006_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/mug_006_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/mug_006_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/mug_006_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/mug_006_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/mug_006_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/mug_006_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/mug_006_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/mug_006_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/mug_006_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/mug_006_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/mug_006_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/mug_006_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/mug_006_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/mug_006_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/mug_006_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/mug_006_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/mug_006_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/mug_006_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/mug_006_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/mug_006_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/mug_006_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/mug_006_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/mug_006_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/mug_006_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/mug_006_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/mug_006_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/mug_006_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/mug_006_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/mug_006_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/mug_006_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/mug_006_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/mug_006_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/mug_006_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/mug_006_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/mug_006_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/mug_006_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/mug_006_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/mug_006_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/mug_006_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/mug_006_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/mug_006_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/mug_006_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/mug_006_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mug_006">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_48" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_49" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_50" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mug_006.urdf b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mug_006.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..db3b629ffb062f29a8469c560cfa1eec1c9c713b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mug_006.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mug_006">
+   <link name="mug_006">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mug_006.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_006_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>c79a5a266ea55fcf9ed1762656f760ae</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>mug</category>
+         <name>decorative mug</name>
+         <color>red,black</color>
+         <shape>cylinder</shape>
+         <material>ceramic</material>
+         <description>red and black mug with golden floral patterns</description>
+         <min_height>0.0899</min_height>
+         <max_height>0.0899</max_height>
+         <real_height>0.0899</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428021004</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_container,is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>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/c79a5a266ea55fcf9ed1762656f760ae/mug_006.usd b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mug_006.usd
new file mode 100644
index 0000000000000000000000000000000000000000..c29708669c463d406b7e3fb549ccd233654f3149
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/mug_006.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3bd42253234f93855ac8b62125719c0665284e2f3c5d06f0f68e76a6f077533
+size 4899807
diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/textures/material_0.png b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..97f54ab5e47b7086c0e94cd7330a9f0f89d473a5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a98831b76139b8a7b8bf829c04f6ebb0c0d7ca6eefb3b78e8cf410448de9e83c
+size 8120359
diff --git a/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/video.mp4 b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c0a8fdefdeffc8710a57912eb78830f04bac9cc7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/c79a5a266ea55fcf9ed1762656f760ae/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e863a6564b38dee2ff7a5aa334a515b189913ddc9c3958090f03fe3a816373e8
+size 216789