diff --git a/.gitattributes b/.gitattributes
index af558ed9c534c27ac65d09ea473d3f1c8d5945e5..6721275b6b30c4f2359e961344ea5ce7176149b2 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4705,8 +4705,5 @@ dataset/kitchen_supplies/ware/4c5408c550e05b1da7a692cdc8d4c583/mesh/wine_glass_0
 dataset/kitchen_supplies/ware/4c5408c550e05b1da7a692cdc8d4c583/wine_glass_033.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/50fac58b59805ec987336ae45518c0d6/mesh/thermos_007.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/50fac58b59805ec987336ae45518c0d6/thermos_007.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/mesh/thermos_020.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/thermos_020.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/5bc351e34fa55137aae7a68207b2b8e3/5bc351e34fa55137aae7a68207b2b8e3.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/5bc351e34fa55137aae7a68207b2b8e3/mesh/water_bottle.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/5bc351e34fa55137aae7a68207b2b8e3/mesh/water_bottle_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mesh/mug_040.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mug_040.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mesh/material.mtl b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f1773add74ac5e436e373313ec13bbed31369f15
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mug_040_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_040_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mesh/material_0.png b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ec221806e7669e80ab20f52fd648e997c0f6495b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fad570004ef26e49a0502d8c37b4b2453aea9923fc928b086b5a03d1160aec9
+size 7874781
diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mesh/mug_040.glb b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mesh/mug_040.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c2c444393deb59f78b4ebd01c50fb9bfa5e5eb1f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mesh/mug_040.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f355d9614edacb4b3e298fd34c7847ab547c7686447e284ff2bc04af16ffad2
+size 11154016
diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mesh/mug_040.mtl b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mesh/mug_040.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..187ab0259b32afca0bc84f5d84209ca414668dee
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mesh/mug_040.mtl
@@ -0,0 +1,6 @@
+newmtl mug_040_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/56cb7446cc6a51b0861b71f193fa3988/mesh/mug_040.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mesh/mug_040.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdf950831d731b35e1a0e0b35bdfc68e18c212d4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mesh/mug_040.obj
@@ -0,0 +1,103532 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mug_040_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mesh/mug_040_collision.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mesh/mug_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2912fdd158cf82063ae2fa138eb06dd94e4fa014
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mesh/mug_040_collision.obj
@@ -0,0 +1,41680 @@
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d94949821e09989385fa77b639744ddf41c125a7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision.obj
@@ -0,0 +1,41680 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_0.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..091d7f1736607086827d11b17cdd9fe5396a1b60
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_0.obj
@@ -0,0 +1,1177 @@
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_1.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a93fd776997012730ff65064cbc0f7ee7d6413ab
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_10.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d60a7a58b57b358c923f3ab450f1e92834515d76
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_11.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bca8bc0250ba940da21d2ef9b9f9dada2fa473b8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_11.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_12.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d898e25ac68be7cb8dbbf114d5c7722388372502
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_12.obj
@@ -0,0 +1,751 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_13.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ab4f3fe8ced9f92758d78a860a81d21431a39b5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_13.obj
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_14.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..759505968335cb7f3a63c20f5a3c6ba444996c23
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_14.obj
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_15.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c17901245ca996632f47d03ad680406f8fe2db3f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_15.obj
@@ -0,0 +1,775 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_16.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cb15d84e41827419d48ee2b55c3584b30ba8af4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_16.obj
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_17.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc5b7d4f7d51b9ab00e307433b222d16729094b0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_17.obj
@@ -0,0 +1,499 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_18.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09325a6d922c1e5675872a9cafb0a0fe23d087e0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_18.obj
@@ -0,0 +1,508 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_19.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b8e39b616dfd4c33fdfb0bd61da7de189255aed
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_19.obj
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_2.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..487f2d57d30b3e2838105b4d9f71e259f2aced88
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_20.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..297bc2e827ec1a6eab350a35120a057c69e77746
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_20.obj
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_21.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39f315f4bf742227aaf4d1c99a3d6cdcb4c3c620
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_21.obj
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_22.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1eb02c31a7f9549c44f4da4136539a2f7a31ed1d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_22.obj
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_23.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..461b48c843cbe04b493cb0362cc634a0080044db
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_23.obj
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_24.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8db3560ff2e71cc5c7c8a9285443ed8bf0ad9307
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_24.obj
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_25.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f43a9f17a03c454d51b21a8c6f9f1c2c2a13fdc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_25.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_26.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff12af5f5816a45c13d9ba075c12c58768183fa3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_26.obj
@@ -0,0 +1,775 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_27.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b043fa7677baa4cb9ac787b63a8c82559f24ee2c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_27.obj
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_28.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ed8b1f07bf87620c5ac111b54ac3ae8e23ddd44
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_28.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_29.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a92d55cc4d3ede9b0edae7110a8b634a06a35ee
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_29.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_3.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2250d55aaae97438462e4c88a4303cb21affc22e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_3.obj
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_30.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae6133aef8871dbc58511515cff6d76d8c406704
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_30.obj
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_31.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61ef8eb2e7617b4148697660e4af6e0d67785bfd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_31.obj
@@ -0,0 +1,820 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_32.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..083fd30651e4233820125e66056649c24200e77b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_32.obj
@@ -0,0 +1,1054 @@
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_33.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fc62873e7a09ff2864757fe085f366237c6469f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_33.obj
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_34.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bb97005bbdd546311819e90b5f13d5cd9778eee
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_34.obj
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_35.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86a8f03a051779f74cd2d2cad553ec26a2ede3cf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_35.obj
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_36.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..606eb3368f9843282518e2854cc2f42a950c8095
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_36.obj
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_37.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fe69b8ae05f454642371844f189ee6a99755965
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_37.obj
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_38.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2e9da0cef3835dc04c419c8b0d5ae2b246c4ef8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_38.obj
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_39.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38b251cb739d83bf6a090c331a962942d2640f62
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_39.obj
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_4.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cee7c311e208eef94d6774c8f16248c284be57d9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_4.obj
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_40.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da8c995842508c6d23b1f2e5f433beb81ac350d4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_40.obj
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_41.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8761e609e82097144a351d43de90f3db8249df0b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_41.obj
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_42.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31d06fc5b0fb6a81cf44defb8667b4ee9193a0a4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_42.obj
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_43.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd2161ce5d8ab2e6cd47bef6f41b7e834ee6236b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_43.obj
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_44.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c968e10538c5f96ff5920a1e2e7901bd4082ad2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_44.obj
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_45.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b92099df7cfb2ed0da4967ab0304f5e1768ce84
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+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_45.obj
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_46.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e55b4e7af1f6b305fb4b316b218a867b769699b1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_46.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_47.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a103820c598d93c3d977e4352d9a5e84d02dadb2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_47.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_48.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..807ee553361deaec5fcb8546e5a796883421e2fc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_48.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_49.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5769385ea1c047a0402fdf021bf1831cff1fe3ce
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_49.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_5.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d407b206cc2b22898eaeafaf68ea204052f9475
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_5.obj
@@ -0,0 +1,709 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_50.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9c94f09c5975f48cfc2039ec373ba8f46460d43
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_50.obj
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_51.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9a1e7a4ce31daa088aac71287a38f562abc2793
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_51.obj
@@ -0,0 +1,460 @@
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_52.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0dbbaf3cebbc9661c15291eed97b7021b987b542
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_52.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_6.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f0fcdb9d566ba834be29a118425d3815777f666
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_6.obj
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_7.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a04524be58406b0a1d159a90ea9659b3a983f8f7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_8.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb6f917dcc428544ba3c92feb0b43860f83c55f0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_8.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_9.obj b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adb3a83fc6a5d1f09945576970a23585099ffd3b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mesh/mug_040_collision_9.obj
@@ -0,0 +1,760 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mug_040.xml b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mug_040.xml
new file mode 100644
index 0000000000000000000000000000000000000000..02372a22adfe0d9bab30dc48f94b1ce2f48d8627
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mjcf/mug_040.xml
@@ -0,0 +1,120 @@
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+    <mesh name="collision_mesh_0_21" file="mesh/mug_040_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/mug_040_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/mug_040_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/mug_040_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/mug_040_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/mug_040_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/mug_040_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/mug_040_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/mug_040_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/mug_040_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/mug_040_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/mug_040_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/mug_040_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/mug_040_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/mug_040_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/mug_040_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/mug_040_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/mug_040_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/mug_040_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/mug_040_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/mug_040_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/mug_040_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/mug_040_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/mug_040_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/mug_040_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/mug_040_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/mug_040_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/mug_040_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/mug_040_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/mug_040_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/mug_040_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/mug_040_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mug_040">
+      <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" />
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+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_49" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_51" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_52" 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/56cb7446cc6a51b0861b71f193fa3988/mug_040.urdf b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mug_040.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3685402b5a46624449cce416f48baeb4e0d3a3e4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mug_040.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mug_040">
+   <link name="mug_040">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mug_040.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_040_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>56cb7446cc6a51b0861b71f193fa3988</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>mug</category>
+         <name>glass mug</name>
+         <color>transparent,brown</color>
+         <shape>cylinder</shape>
+         <material>glass</material>
+         <description>transparent glass mug with rounded body and side handle</description>
+         <min_height>0.0900</min_height>
+         <max_height>0.0900</max_height>
+         <real_height>0.0900</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611160734</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.039923 -0.038389 -0.036465</min>
+            <max>0.063603 0.038346 0.053535</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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/56cb7446cc6a51b0861b71f193fa3988/mug_040.usd b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mug_040.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/mug_040.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8282a9042e7d224c2a2c6fcf32142c6a19d9b3d07cc6699dff6d9fc748f4328a
+size 4875152
diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/textures/material_0.png b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 7874781
diff --git a/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/video.mp4 b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/56cb7446cc6a51b0861b71f193fa3988/video.mp4
@@ -0,0 +1,3 @@
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+oid sha256:5bd67afd63be5de714421e0dd7fbe9ab33e8f42fdd7dc9b27f6b3d054509b1b6
+size 230862