diff --git a/.gitattributes b/.gitattributes
index 50d164efb14077b7bbb025b5043bee412097203a..c5c155949a6e446b0f78dea1ad61b70c9a445b01 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4758,7 +4758,5 @@ dataset/kitchen_supplies/ware/8fcf16a567b15d20b9df625e271d5903/8fcf16a567b15d20b
 dataset/kitchen_supplies/ware/8fcf16a567b15d20b9df625e271d5903/mesh/bowl.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/8fcf16a567b15d20b9df625e271d5903/mesh/bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/9c4e7899a1605df696429194cce315a7/9c4e7899a1605df696429194cce315a7.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mesh/mug_010.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/9830260a730e508197227790796349cd/mug_010.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/9ccab934d9d8597bb38a87346fbf8c38/mesh/wine_glass_020.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/9ccab934d9d8597bb38a87346fbf8c38/wine_glass_020.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mesh/mug_012.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mug_012.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mesh/material.mtl b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d8687766c010980b72e35f1d12f6eac263c490b9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mug_012_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_012_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mesh/material_0.png b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7d3477ef771fb08b1875fd7f67e8c5c4def22a44
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f952896632003f743eec4792a5f1687157a081dee24def844f062df13dd2646e
+size 6656250
diff --git a/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mesh/mug_012.glb b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mesh/mug_012.glb
new file mode 100644
index 0000000000000000000000000000000000000000..7b708918a580ebdff9ccac806fbbbb1e392cad0f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mesh/mug_012.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50d9d99a5555bac1bcacfcc02e728c5e61cff70530f26a1298e23c149aaceab9
+size 9931824
diff --git a/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mesh/mug_012.mtl b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mesh/mug_012.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ecc1e9770967fef7873deb5e07157ecc98c54bb0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mesh/mug_012.mtl
@@ -0,0 +1,6 @@
+newmtl mug_012_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/988b4da365e256a3bf18f9a0bc186240/mesh/mug_012.obj b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mesh/mug_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00ff8600f72fd39f309826e7b6add40f562260ca
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mesh/mug_012.obj
@@ -0,0 +1,103722 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mug_012_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mesh/mug_012_collision.obj b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mesh/mug_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..955aba6ed8ac690077ae7bb6c5456f3481759de9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mesh/mug_012_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mesh/mug_012_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mesh/mug_012_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 6656250
diff --git a/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7d3477ef771fb08b1875fd7f67e8c5c4def22a44
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+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:f952896632003f743eec4792a5f1687157a081dee24def844f062df13dd2646e
+size 6656250
diff --git a/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012.obj b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012.obj
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index 0000000000000000000000000000000000000000..17bc520fdc348ddfe6eab5482953219dc8c9b064
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+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mug_012_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision.obj b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65b35c54f5a312ec0aa36db0409eb31b43eaa866
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision.obj
@@ -0,0 +1,17080 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_0.obj b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29c4b66526ff1c6434ca9938cc731ac388bc765d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_0.obj
@@ -0,0 +1,820 @@
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diff --git a/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_1.obj b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d4c4453bdd68f7d8ade6d66e75d57a517f45250
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_10.obj b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e77766b458d88c0942d8c3a5dae87056d3f1c57b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_11.obj b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92e69f86881beb0b265bf5942baeeefb8fb66f8f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_11.obj
@@ -0,0 +1,475 @@
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diff --git a/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_12.obj b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0e94b1936cbe6b0f9ed02b5c6dc9811af51b187
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_12.obj
@@ -0,0 +1,787 @@
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diff --git a/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_13.obj b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec789ddf7fe6d9df2e1037eab8412d823a072101
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_13.obj
@@ -0,0 +1,562 @@
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diff --git a/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_14.obj b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a29a5ef15beec6a6b88dfa5eec73f06c66e7982d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_14.obj
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diff --git a/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_15.obj b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0d82af1f45a6461ff54608663638610f24a5639
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_15.obj
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diff --git a/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_16.obj b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cebd786a395426e9c9fa9f99a2366186d309dfb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_16.obj
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diff --git a/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_17.obj b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88258385bdb1d0bd75fb7e21d09759962b009903
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_17.obj
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diff --git a/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_18.obj b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54d413ade644b997835a2307c8b09c1be5ace887
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_18.obj
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diff --git a/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_19.obj b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20056dd1913c52b615103d420d9033a680543267
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_19.obj
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diff --git a/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_2.obj b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1364105a27a425b1fe20400848188acda7ec9d5b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_20.obj b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07c481e53b8ec609a0e74be3d2a10da7726eede3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_20.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_21.obj b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a8c9d0a0cc4f04012da4795dcfbe5a9cf4ecfd1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_21.obj
@@ -0,0 +1,448 @@
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diff --git a/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_22.obj b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea04db30a4c6ddd7e7bed8076fdb21ba25f01a47
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_22.obj
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diff --git a/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_23.obj b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6dca418234b4d271ed617c42e733143b765ac0f0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_23.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_24.obj b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa87328c1a842d0269c8acab16813aabab31af40
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_24.obj
@@ -0,0 +1,577 @@
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diff --git a/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_25.obj b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ebc5e724ff767a16139aa5797666f173a1ebf48
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_25.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_26.obj b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ca22c52ae65ea67c556a5a74f4e4f5e32f01fce
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_26.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_27.obj b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52449db5aeddb0ac3bd6b4fd4c7d306f3437abe4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_27.obj
@@ -0,0 +1,637 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_28.obj b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aca01a0fb8ecd8ebc58cccc6b8dc2e58124d45c5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_28.obj
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diff --git a/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_29.obj b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a16c5480e373c9b97ff19be0fef02d6f8266babf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_29.obj
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diff --git a/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_3.obj b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7f512e086e09f87f6dfbc57178ed0b8d4affa0d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_3.obj
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diff --git a/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_30.obj b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..522b7e61dbedb912ff0e752c8b6cf31e5c299779
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_30.obj
@@ -0,0 +1,418 @@
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diff --git a/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_31.obj b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17588d3d3f3d42328f7ab8089b584b3d79a4fe0b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_31.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_32.obj b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..725e02afc375caa3d0d6aa1968949039ba1e794c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_32.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_33.obj b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07c47a6c6ddeed864f3ed0fedcc8c3bb9d7361f7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_33.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.00002918 0.03292729 -0.01991948
+v 0.00002918 0.04180201 -0.01458411
+v 0.00036592 0.03292729 -0.01991948
+v 0.00002918 0.03292725 -0.00851299
+v 0.00092230 0.04180201 -0.01458142
+v 0.00092230 0.03292729 -0.01991814
+v 0.00002918 0.04180198 -0.00615323
+v 0.00092230 0.03292725 -0.00851569
+v 0.00092230 0.04180198 -0.00615458
+v 0.00251939 0.04180201 -0.01456525
+v 0.00251939 0.03292729 -0.01984536
+v 0.00160271 0.03292725 -0.00853455
+v 0.00251939 0.04180198 -0.00620040
+v 0.00395088 0.04180201 -0.01435097
+v 0.00415320 0.03292729 -0.01952867
+v 0.00251939 0.03292725 -0.00856285
+v 0.00286514 0.04180198 -0.00625161
+v 0.00401809 0.04180201 -0.01432806
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+
diff --git a/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_34.obj b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b1eb53fab02c1102cc6db92f4d8cc5d2efc6c2a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_34.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.02602558 -0.01045830 -0.03023852
+v 0.02587249 -0.01103004 -0.03023852
+v 0.02582329 -0.01090869 -0.03054288
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+
diff --git a/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_35.obj b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b8b935ce67e335f1cdeb1051f4b67fa1f001f1b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_35.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
+v -0.00188101 0.05874745 0.01938138
+v -0.00067486 0.05892000 0.01867227
+v -0.00227223 0.05892090 0.01867227
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+v -0.00620775 0.05859117 0.01227993
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diff --git a/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_36.obj b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71a5b467f87f552dde6ba9ec3659e60464bdb919
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_36.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_37.obj b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34096bd26bb4e3794bd2b006ecff7f4440709409
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_37.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_4.obj b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ac1e6b1e3c083a863cfb588a23ee947ee22758a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_4.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.00002849 0.03188625 -0.02085237
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+v 0.00092251 0.03003626 -0.02407527
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+v 0.00251987 0.02999179 -0.02403097
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diff --git a/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_5.obj b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a12ae0cd607fc3c6c6059bac14f4e0de4af57e1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_5.obj
@@ -0,0 +1,514 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_6.obj b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f60b541dda968c635f843f1ec4061ae7aeb33b8c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_6.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_7.obj b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3907b64156e4399001435d08e3f03d66341a3a9d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_7.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_8.obj b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34f25b1ee3d68539da0f3a34e6a36508a1eebcb5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_8.obj
@@ -0,0 +1,412 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_9.obj b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6a3c0951ed721d3600e376fb4ec620fb8df38a0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mesh/mug_012_collision_9.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mug_012.xml b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mug_012.xml
new file mode 100644
index 0000000000000000000000000000000000000000..31e1320e34313a1c9f166510ae758bdb8ac6c4df
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mjcf/mug_012.xml
@@ -0,0 +1,90 @@
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mug_012.urdf b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mug_012.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f2e86477527a6f2db717b6f09c12e531311db35e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mug_012.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mug_012">
+   <link name="mug_012">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mug_012.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_012_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>988b4da365e256a3bf18f9a0bc186240</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>mug</category>
+         <name>gray mug</name>
+         <color>gray</color>
+         <shape>cylinder</shape>
+         <material>ceramic</material>
+         <description>plain gray cylindrical mug with rounded handle and thick base</description>
+         <min_height>0.0721</min_height>
+         <max_height>0.0721</max_height>
+         <real_height>0.0721</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518191909</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.034872 -0.038255 -0.032493</min>
+            <max>0.035124 0.059388 0.039595</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/988b4da365e256a3bf18f9a0bc186240/mug_012.usd b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mug_012.usd
new file mode 100644
index 0000000000000000000000000000000000000000..09c4fe42a8b09e11bdfc1970cc1ad43b68a0cd84
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/mug_012.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a92b79c9f7897722bea8185897fe5efc7f6423b32ad4fc3ed42a6752037ace52
+size 4875557
diff --git a/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/textures/material_0.png b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7d3477ef771fb08b1875fd7f67e8c5c4def22a44
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f952896632003f743eec4792a5f1687157a081dee24def844f062df13dd2646e
+size 6656250
diff --git a/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/video.mp4 b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..adff00f541de8f3b3ae4b6a72cc3689e3cb185a8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/988b4da365e256a3bf18f9a0bc186240/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee8c9758663a930188c484be87bc73a22a597bf027b37ad6990c82185007ee6f
+size 120024