diff --git a/.gitattributes b/.gitattributes
index 98a1f74032d53d6fd573b8045a3d511e0e581aa5..b383a903dc4baa0b602baa7d7f124b837d70c30b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4735,3 +4735,5 @@ dataset/kitchen_supplies/ware/6de98b9ee2de5efcba7801533c9d5d18/mesh/ceramic_teap
 dataset/kitchen_supplies/ware/6ba9b677991e54c1a89513d7572a530e/6ba9b677991e54c1a89513d7572a530e.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/6ba9b677991e54c1a89513d7572a530e/mesh/bottle.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/6ba9b677991e54c1a89513d7572a530e/mesh/bottle_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mesh/mug_017.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mug_017.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mesh/material.mtl b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6254a504590c00cbb00cfcf13314c4236cba3c93
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mug_017_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_017_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mesh/material_0.png b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6223616b930e3874cea34f127c83cfd29e03d644
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78a9d3b1129b066ea7a3dade2cfb1e5e0136b9c258f30ee57dfc8909dee0c58a
+size 10402120
diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mesh/mug_017.glb b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mesh/mug_017.glb
new file mode 100644
index 0000000000000000000000000000000000000000..22f69b032a19a7bbb73ca8e2d12438e9e62af384
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mesh/mug_017.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5327c44cbd6f5cb8cd3966d296ec3012027505a99a555b879adde6d2edc7f47f
+size 13658276
diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mesh/mug_017.mtl b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mesh/mug_017.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9036706a8aabcb4f0def0a5511c0196e34eb859a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mesh/mug_017.mtl
@@ -0,0 +1,6 @@
+newmtl mug_017_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/6cc22390c242593591f111b7584847c1/mesh/mug_017.obj b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mesh/mug_017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2991646eabb8a02861c73c838877c571588a122
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mesh/mug_017.obj
@@ -0,0 +1,103752 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mug_017_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mesh/mug_017_collision.obj b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mesh/mug_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da1b857be02b5e792a99d09879321c9c41f4580c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mesh/mug_017_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mesh/mug_017_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mesh/mug_017_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017.obj b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017.obj
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+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017.obj
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diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision.obj b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9c1b0bd12047ce6bcb805e885befad7fc5b1157
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision.obj
@@ -0,0 +1,21176 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_0.obj b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1be202d1737f45f64b165fe61761b9f9091c7ad9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_1.obj b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88552281d3253d97b033b9dff37f9882fbd2e8ab
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_10.obj b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54bb7444e25780a58af12f232e74fdaf0ab85c14
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_11.obj b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90862bc6ddaaed56c778a28157a6a9a76924df57
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_11.obj
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diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_12.obj b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa1daec09f61d7756d64194d411126271e2a0d91
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_12.obj
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diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_13.obj b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f22ba8f878d7ec86da0aa28de0a650b4e09d4d16
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_13.obj
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diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_14.obj b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7eb102a8b59c12ce8f47d0eebee6151188f03d15
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_14.obj
@@ -0,0 +1,286 @@
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diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_15.obj b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6e2a7103e3a09b990c4ee82d285c8923b44f025
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_15.obj
@@ -0,0 +1,1045 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_16.obj b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ca441bfe8813025cd19e5ad2767d7f2f3be06c6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_16.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_17.obj b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..386f9bcc8c05c535ab4e8aa7ed098944f21a2029
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_17.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_18.obj b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8138f87595f038fd8309fab93c011435a29ea922
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_18.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.00754711 0.01739186 -0.02584127
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diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_19.obj b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0023f96190467c81759ea75f6c1afe576a9684d1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_19.obj
@@ -0,0 +1,463 @@
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diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_2.obj b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d6038bb2a95ae01f0bee0256e42609b4589ba52
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_2.obj
@@ -0,0 +1,1459 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_20.obj b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c35321d6411e4966099b352e572bb008d9e0d0a3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_20.obj
@@ -0,0 +1,583 @@
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diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_21.obj b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b17f555547768edca996b0d5c148feeb44935ba1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_21.obj
@@ -0,0 +1,472 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_22.obj b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8692d8a687a760e507a795c7bea7f45a120040a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_22.obj
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diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_23.obj b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..229d84f3e605eb79d35ab453e4378fc2fb854cc7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_23.obj
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diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_24.obj b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..daebbbbbf4f4be90df473f07c7246dd4a6d2211f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_24.obj
@@ -0,0 +1,505 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_25.obj b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f27024bebb1243aa50483d5d8b81065c8f42190f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_25.obj
@@ -0,0 +1,511 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_26.obj b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4206f98c77bb7f9b8f60004146e84149f020ae1a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_26.obj
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diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_27.obj b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5de209740e19fe921e99d5ed438215deeced0431
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_27.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_28.obj b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e03de652d3b86e7eb97ba98dbefd41b5290d9fbd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_28.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_29.obj b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..956e41a1996caade88d9ae042dc6d22bb01889fb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_29.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_3.obj b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d211ea5be69812e2dcc6d2277e88152aef26c270
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_3.obj
@@ -0,0 +1,466 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_30.obj b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8107a1e9d639f5810e268796c14b0b0e36392ca2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_30.obj
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diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_31.obj b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e484dea4a03d0f2093f9d6ac0b5ba7fafb85081d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_31.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_32.obj b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65a63f71aaa3085f5613ca69e52184befed604cf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_32.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_33.obj b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3dfa011388d773c422abefbacdcdbdd8634f5f77
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_33.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_34.obj b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b0e388838810cfbcfb1b5246119d6c4abc92a68
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_34.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_35.obj b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2351280785a3dd988fe764bf892f074db9fe41b8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_35.obj
@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_36.obj b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5579e3ac823f2c5a2a53ef47b067c24ef07e2c4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_36.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_37.obj b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a54e194159984d96895d46229e7e4e2bf0a03d7a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_37.obj
@@ -0,0 +1,232 @@
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diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_38.obj b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09921747106925ad115b39bb9ddba349fb7fb685
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_38.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_4.obj b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79c4685a9069a507ae094fa35aa13353d81f1f6f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_4.obj
@@ -0,0 +1,595 @@
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diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_5.obj b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9045fe2d485983e0d530a5b997c610b234c7283a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_5.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_6.obj b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50ce2b323805271c76fd945ae212ee402a57eac9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_6.obj
@@ -0,0 +1,511 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_7.obj b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2ed4d6201a98f216f72b0fca190e5fd08254f96
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_8.obj b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5db95f0fe923e65ffa905b25a1425bb4e2f60599
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_8.obj
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diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_9.obj b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bd132fdd6226afe498793bacf4551ac8a89ecaf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mesh/mug_017_collision_9.obj
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diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mug_017.xml b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mug_017.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4ccd0c637b11c2b9b3a20bd7eb2c4f09f1f8542c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mjcf/mug_017.xml
@@ -0,0 +1,92 @@
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mug_017.urdf b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mug_017.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3bc54167ae8fcc9bee45dab861b69e0821fced82
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mug_017.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mug_017">
+   <link name="mug_017">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mug_017.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_017_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>6cc22390c242593591f111b7584847c1</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>mug</category>
+         <name>wooden mug</name>
+         <color>brown</color>
+         <shape>cylinder</shape>
+         <material>wood</material>
+         <description>light wood cylindrical mug with darker rectangular side handle</description>
+         <min_height>0.0738</min_height>
+         <max_height>0.0738</max_height>
+         <real_height>0.0738</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518192126</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.034694 -0.040033 -0.032688</min>
+            <max>0.034663 0.056126 0.041127</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mug_017.usd b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mug_017.usd
new file mode 100644
index 0000000000000000000000000000000000000000..843005ffa2e5f6ca71988ab1be024344969cab03
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/mug_017.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6524077bb416ab0cb801a24e2cffd76f33550d8ce9e52ccfecbd33f01ed82c5
+size 4863979
diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/textures/material_0.png b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6223616b930e3874cea34f127c83cfd29e03d644
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78a9d3b1129b066ea7a3dade2cfb1e5e0136b9c258f30ee57dfc8909dee0c58a
+size 10402120
diff --git a/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/video.mp4 b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..470d3d6d8342ff4a60516de08f96600b682287be
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6cc22390c242593591f111b7584847c1/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5faea2407ad5418b73c54a2cf30f99a00eefaa6d0f14a033de486c710bd5351f
+size 226333