diff --git a/.gitattributes b/.gitattributes
index b7ce6685a78d4ef76f86e2ba84358752a895e501..62f3534ea1d5c75f6edd8a5a7148ce20be34d459 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4755,3 +4755,5 @@ dataset/kitchen_supplies/ware/849ac7e0e8945a7ab44f44423051bd69/mesh/thermos_004.
 dataset/kitchen_supplies/ware/849ac7e0e8945a7ab44f44423051bd69/thermos_004.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mesh/mug_032.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/84d30ff685bd56589a323c9a1cb864ea/mug_032.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mesh/mug_008.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mug_008.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mesh/material.mtl b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bad1628c7b3e0db2427eb276f8fc4e4a16e521b1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mug_008_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_008_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mesh/material_0.png b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6e0dc3355973d3220f5adf859ba9b97be06eeebd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bd3dca7e477b62a34bd20f70cbc114c35e97cefcfa3c7df0555ad3631c60480
+size 8349428
diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mesh/mug_008.glb b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mesh/mug_008.glb
new file mode 100644
index 0000000000000000000000000000000000000000..9fd6f9154e1e637d95e10c8a40fd7aab2a9dee94
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mesh/mug_008.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:566306f2ce084484f3b64d5e0f42ee680da07cdde0f2f9854d36aa9208643954
+size 11771400
diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mesh/mug_008.mtl b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mesh/mug_008.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dbfc4b78c55ab8b9630f0174d78de7727d6e1ea2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mesh/mug_008.mtl
@@ -0,0 +1,6 @@
+newmtl mug_008_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/862e32f8482d5efdba2e440ad796c258/mesh/mug_008.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mesh/mug_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5994e20ec5d0c5360847cba49aecece9a1147c29
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mesh/mug_008.obj
@@ -0,0 +1,104360 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mug_008_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mesh/mug_008_collision.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mesh/mug_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..165b467110d1badd5dea680ee746a6ed4c0927fd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mesh/mug_008_collision.obj
@@ -0,0 +1,17288 @@
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diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mesh/mug_008_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mesh/mug_008_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008.obj
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index 0000000000000000000000000000000000000000..3970a2350fe0131c59aa1224bf696a43fefed0c8
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+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008.obj
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diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d9d3d666364d584f9ad366531d856aa17e8afaf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision.obj
@@ -0,0 +1,17288 @@
+# https://github.com/mikedh/trimesh
+
+o mug_008_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_0.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cb61bb41b74743485db70158da115e04877866d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_0.obj
@@ -0,0 +1,244 @@
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diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_1.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..326abc2197b844aa271023369057605d29d7ab29
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_1.obj
@@ -0,0 +1,511 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_10.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed96dfaf0359893929c2f04bf01e9f12b9baae66
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_11.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86d32ddaa82ab04c4d5d33f03b381fd70784189d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_11.obj
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diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_12.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29c0c5bcc85e4b748fedb55c3f224b4b1eb3d6c3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_12.obj
@@ -0,0 +1,526 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_13.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d04ba71deff1e9bd6e20a0ac556432fd23ade6a5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_13.obj
@@ -0,0 +1,418 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_14.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52d4d34d87cc86198355f6214849c4ed458aa4a1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_14.obj
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diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_15.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77bd31456e07bd83653edbbe4eb7d52951acf5bc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_15.obj
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diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_16.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbc11ca8d7e91006cd190029310ccabc335f0e27
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_16.obj
@@ -0,0 +1,310 @@
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diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_17.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87f9af4ac6d56e1dd5646b4d702a26e882d117f4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_17.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_18.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a594092b405b13e9132d0b142058ca65ab3010bc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_18.obj
@@ -0,0 +1,397 @@
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diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_19.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eaca119768b171c2001713b96917bfee0e3ac9c7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_19.obj
@@ -0,0 +1,382 @@
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diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_2.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49b112b8a99934672c2a895dac17b4948913ecd1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_2.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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+v 0.04598588 0.01264464 -0.04758458
+v 0.04466149 0.01562945 -0.04838575
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+v 0.04726332 0.00004011 -0.04758463
+v -0.00070145 0.01562949 -0.05867190
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+v 0.02643459 0.01562950 -0.06215805
+v 0.03079759 0.00004017 -0.06224569
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+v 0.04703789 0.00599445 -0.04758461
+v 0.04692048 0.00599446 -0.04791341
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+
diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_20.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a10275379d338ee7e3d9c38433e636a1d206033
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_20.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.04302298 0.02095976 -0.00346297
+v -0.05347346 0.02095976 -0.00346297
+v -0.04885785 0.00246228 -0.00346304
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+v -0.05966704 0.00246228 -0.00346304
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+
diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_21.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c57d164b518f2b9c3ca9bf7fbbc79f32a5bcef82
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_21.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.00070615 0.03874033 -0.04827941
+v 0.01837465 0.02917362 -0.04827944
+v -0.00070615 0.04271116 -0.04428378
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+v 0.01740040 0.04831447 -0.04827937
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+v 0.01877121 0.04868354 -0.04433460
+v 0.01791898 0.04913686 -0.04428376
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+v 0.01789419 0.04911952 -0.04590766
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+v 0.01566353 0.05016239 -0.04428376
+v 0.01043194 0.05208465 -0.04428375
+v 0.01087045 0.05194841 -0.04428375
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+
diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_22.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6e9b5e0f07eddd44dcadd14e31145a653ec847f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_22.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.02010712 -0.05083204 -0.04590780
+v -0.01995330 -0.05086926 -0.04590780
+v -0.02010712 -0.05078894 -0.04431522
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+v -0.01744652 -0.05137861 -0.04590780
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+v -0.02010712 -0.05044609 -0.04792180
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+v -0.01493973 -0.05175867 -0.04590780
+v -0.01584749 -0.05157648 -0.04431522
+v -0.01995330 -0.05046568 -0.04796015
+v -0.02010712 -0.03229941 -0.04871672
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+v -0.02010712 -0.05001510 -0.04869610
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+v -0.00791125 -0.05141386 -0.04871679
+v -0.00742128 -0.05142562 -0.04871679
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+f 1 8 4
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+
diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_23.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d5704516a28eb931566be9c8661592292e85966
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_23.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.00070615 0.05157946 -0.00326144
+v -0.00240964 0.05157386 -0.00326144
+v -0.00070615 0.04140463 -0.00326148
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+v -0.01744685 0.05326888 -0.04429343
+v -0.01778454 0.05318777 -0.04417293
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+f 30 35 36
+
diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_24.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..737719d332abc929a11753b7426d7c669a490071
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_24.obj
@@ -0,0 +1,415 @@
+# https://github.com/mikedh/trimesh
+v -0.03313216 0.03221748 0.00405412
+v -0.03313216 0.03222627 0.00336098
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diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_25.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98365d1085de4aaf72375ebacdb51449e11d839c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_25.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_26.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee4a9dcba67c2c2abe33b3aa2889f04a6f42b1ee
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_26.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_27.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b477df5a329dd4a9efed7636fb0af5676278bc0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_27.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_28.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a16e395e9717dd2055c8c7869d22a495b095b161
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_28.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_29.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78314d392ee4ee4b76be289e0ccdf12b03ca3b50
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_29.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_3.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0a89e1a2d3e745d503a26f0a32eb54125fd78d4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_3.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v -0.00070615 0.00246245 -0.04930210
+v -0.00070615 -0.02627472 -0.04900356
+v -0.00070615 0.00246249 -0.05859088
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+
diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_30.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f98cb40dc9fb6441c65786bd9b73bcf8bea50436
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_30.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_31.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ec6714ab71c4af62a7ceb175f7c2a5891ca283d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_31.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_32.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc96744fa3e58e5cc4c1291ed51c6e79281a850e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_32.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_33.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c025500e4f8124357030127bfa65c7119588f7e9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_33.obj
@@ -0,0 +1,412 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_34.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c024547b4e0f7333bfd7d0147dfe3d80930a3235
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_34.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
+v 0.03649643 0.00004004 -0.02642592
+v 0.03337005 0.01562937 -0.02642586
+v 0.04578027 0.00004004 -0.02642592
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+v 0.03132610 0.01562915 0.03152604
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diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_35.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85c65a711dc3b6c74dcf927173516b50acb6d403
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_35.obj
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diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_36.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5e8a79be7381f5642015c3708a6499f8ede6522
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_36.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_37.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3eaa2ab8dad1fb9d67dff5e73be40a8e59d11c2d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_37.obj
@@ -0,0 +1,649 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_38.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bba46ec4fe748203616992817f2ce89f658e6449
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_38.obj
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diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_39.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e151bc5dbf1561ed1f740cbbc63f287e43211b5e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_39.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_4.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..323f582364aa324a66a3e90f68c7c8cb0f210a6e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_4.obj
@@ -0,0 +1,484 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_40.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f7377bd2c0356658c1fcac134f759b40f3af09e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_40.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_41.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..301e8348edc5ad662d00b3a081bcc90b9cb93e1d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_41.obj
@@ -0,0 +1,406 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_42.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1565acae806e00a8b0f82232e54aea0bdfe1a81f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_42.obj
@@ -0,0 +1,547 @@
+# https://github.com/mikedh/trimesh
+v 0.09036897 -0.00494577 0.02250760
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diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_43.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ffd9322ac7585148d405645cbf5ad8d24a34130
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_43.obj
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diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_44.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f6c5525a06fd16e7f3a939f673de46d50ded615
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_44.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_45.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c0dc461999545b872468150872388ef219161c1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_45.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_46.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aec8a8c579c2b9b444cfe7bfcaefe16bcb354e16
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_46.obj
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diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_47.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59855f3e1b091c8ae95a4883321cbaf9b8af16ea
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_47.obj
@@ -0,0 +1,436 @@
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diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_48.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e699b6a0984d3c93acb65832c01f699ac49a7dc0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_48.obj
@@ -0,0 +1,637 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_49.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f38a4c620b5c995dc212b3504ecadca960b1923
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_49.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.04578027 0.00004004 -0.02642592
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diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_5.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68af238335a552d35f6fcf28c0d711dbe740a384
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_5.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.00070615 0.02916241 -0.04893579
+v -0.00070615 0.00246245 -0.04930318
+v -0.00070615 0.02916245 -0.05906503
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diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_50.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f236b571341a929133754cc8ec04ca03a5a5c322
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_50.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_6.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..400cbff20e2281de59dfd42ed4d12959accb0183
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_6.obj
@@ -0,0 +1,424 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_7.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a527477bed0bf3b40388bc7af01ca827942ff75d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_7.obj
@@ -0,0 +1,397 @@
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diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_8.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..491cb6de78c8c2499625100f3bba52e336704e63
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_8.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_9.obj b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a83531765ae301d2814bf4a1bb53c9812683a244
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mesh/mug_008_collision_9.obj
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diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mug_008.xml b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mug_008.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a615de6b9675d0614d50aaa041bc1b9c12271fdc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mjcf/mug_008.xml
@@ -0,0 +1,116 @@
+<?xml version='1.0' encoding='utf-8'?>
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+    <mesh name="collision_mesh_0_0" file="mesh/mug_008_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mug_008_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_20" file="mesh/mug_008_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/mug_008_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/mug_008_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/mug_008_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/mug_008_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/mug_008_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/mug_008_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/mug_008_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/mug_008_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/mug_008_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/mug_008_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/mug_008_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/mug_008_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/mug_008_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/mug_008_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/mug_008_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/mug_008_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/mug_008_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/mug_008_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/mug_008_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/mug_008_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/mug_008_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/mug_008_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/mug_008_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/mug_008_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/mug_008_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/mug_008_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/mug_008_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/mug_008_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/mug_008_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/mug_008_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mug_008">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_48" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_49" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_50" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mug_008.urdf b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mug_008.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..48bcd59cf63dd1d1c7aa95781c02d7ec80dfb38d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mug_008.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mug_008">
+   <link name="mug_008">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mug_008.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_008_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>862e32f8482d5efdba2e440ad796c258</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>mug</category>
+         <name>rustic mug</name>
+         <color>black,brown</color>
+         <shape>cylinder</shape>
+         <material>ceramic</material>
+         <description>brown and black mug with dripping texture design</description>
+         <min_height>0.1245</min_height>
+         <max_height>0.1245</max_height>
+         <real_height>0.1245</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428021108</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_container,is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mug_008.usd b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mug_008.usd
new file mode 100644
index 0000000000000000000000000000000000000000..84b57b2c35ebdee00a716384deb672ee3789fcec
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/mug_008.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f51cfcc0189553707f017396299132cc344df7dec8fbb2fc1db071e2eb7459f
+size 4960882
diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/textures/material_0.png b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6e0dc3355973d3220f5adf859ba9b97be06eeebd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bd3dca7e477b62a34bd20f70cbc114c35e97cefcfa3c7df0555ad3631c60480
+size 8349428
diff --git a/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/video.mp4 b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/862e32f8482d5efdba2e440ad796c258/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68253b47aa3dba83ec966291c60062d51b58bd4e0e78e7c3867d12e67fde6fde
+size 154428