diff --git a/.gitattributes b/.gitattributes
index dfad27505f45c07f3b9645e620b00a86d7a27d56..461821de3716287270de52fb99a7b2b64a194887 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4766,3 +4766,5 @@ dataset/kitchen_supplies/ware/8e14e822769a5828800ae6647acb6588/coffee_cup_004.us
 dataset/kitchen_supplies/ware/8e14e822769a5828800ae6647acb6588/mesh/coffee_cup_004.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/8e14e822769a5828800ae6647acb6588/mesh/coffee_cup_004.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/8e14e822769a5828800ae6647acb6588/mjcf/mesh/coffee_cup_004.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mesh/mug_039.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mug_039.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mesh/material.mtl b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5c818810ac7c99b0ad39316e4db31adf482a588a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mug_039_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_039_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mesh/material_0.png b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1a8ea3599466a17baf8d9f66e356265aadebeda6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1048e7b6fed2344bfcb30722b497cbd97d10dc6638766422574e2921816e476
+size 7509821
diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mesh/mug_039.glb b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mesh/mug_039.glb
new file mode 100644
index 0000000000000000000000000000000000000000..4b7b7d5b1e525e2271955b9f3b273d6d75995958
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mesh/mug_039.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7d9354d1c77437b7724c2aa4ff9b05e8acdbdb6b1772680e039feb0f9e9fcf6
+size 10613176
diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mesh/mug_039.mtl b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mesh/mug_039.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..771d57ed27849236323603d038cd3dd8f502d6cc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mesh/mug_039.mtl
@@ -0,0 +1,6 @@
+newmtl mug_039_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/9dcbd4b5514c5fa89310c8e05e953554/mesh/mug_039.obj b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mesh/mug_039.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9a954b393bde7b4d5102b1a507f2c8e38a19b7c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mesh/mug_039.obj
@@ -0,0 +1,103990 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mug_039_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mesh/mug_039_collision.obj b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mesh/mug_039_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efc6ab4f7f56fecdd7c8f6c81acee2ed5338ca20
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mesh/mug_039_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mesh/mug_039_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mesh/mug_039_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1a8ea3599466a17baf8d9f66e356265aadebeda6
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+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mesh/mug_039_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1048e7b6fed2344bfcb30722b497cbd97d10dc6638766422574e2921816e476
+size 7509821
diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1a8ea3599466a17baf8d9f66e356265aadebeda6
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+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1048e7b6fed2344bfcb30722b497cbd97d10dc6638766422574e2921816e476
+size 7509821
diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039.obj b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039.obj
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index 0000000000000000000000000000000000000000..8aa178a028e5f02d1d32939811f5e6bb2b96d757
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+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039.obj
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+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision.obj b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acb8420d2a8fb0541e5d5e185111a9a1f729f17c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision.obj
@@ -0,0 +1,17801 @@
+# https://github.com/mikedh/trimesh
+
+o mug_039_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_0.obj b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78bece71ffbbd2698168a89bf1aeee4c5891de41
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_1.obj b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4b0d5e7827b25d21f02f0984301f9156a68b143
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_10.obj b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e818b5c0ec45941d59cd429c7ad42f36799e511e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_10.obj
@@ -0,0 +1,313 @@
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diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_11.obj b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf92d12c84d713583697ebb406d3bf66db72c057
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_11.obj
@@ -0,0 +1,385 @@
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diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_12.obj b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04b3027e1f898a205da51ed45a38b1a4d8cea69b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_12.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_13.obj b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01fb62bdbf14ea0b3dde56e316964db246e13111
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_13.obj
@@ -0,0 +1,652 @@
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diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_14.obj b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be38f8ca8e61495cd3066a4e1ea524dd31422c25
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_14.obj
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diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_15.obj b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41b823db7f75f67ac155fcac284b20c4422a4d16
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_15.obj
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diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_16.obj b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f20119d49ca376b15a338e044a61dce8846e758
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_16.obj
@@ -0,0 +1,745 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_17.obj b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac902d7d9179493af377378d58a4b450ddc8be24
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_17.obj
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diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_18.obj b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4fda34cfca7d0e0ac5e17cb900ef56be21840bd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_18.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_19.obj b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f15f4cddf08dd37cffb4cde1020bf0a9a178470f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_19.obj
@@ -0,0 +1,808 @@
+# https://github.com/mikedh/trimesh
+v 0.04402605 -0.03402599 0.07796588
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diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_2.obj b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eafb8b1579410ed74d1a04cd5d62b39ff6fe6ff2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_2.obj
@@ -0,0 +1,409 @@
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diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_20.obj b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c06571b0b3943bb4bd913fcd0da71c8e59e27861
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_20.obj
@@ -0,0 +1,574 @@
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diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_21.obj b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bd4c95f1f7fba2de96a137a6d2f6dd7b9ea0f7a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_21.obj
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diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_22.obj b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..307f64994587cf9c06e740a1c8e1087b8ede6664
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_22.obj
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diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_23.obj b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81a40426eaca4a7cc3bc60637e67f4809577ee2d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_23.obj
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+f 85 104 95
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+f 103 108 104
+
diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_24.obj b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0af63ca9401ec906f53b1be210f4a5661af223af
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_24.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.05698294 0.00144880 0.06990486
+v 0.06377041 0.00144880 0.06970781
+v 0.06377041 0.00433753 0.06970782
+v 0.05698294 0.00366919 0.06990076
+v 0.05698294 -0.00167013 0.06990074
+v 0.06377041 -0.00143745 0.06970368
+v 0.06377041 0.00722626 0.06966472
+v 0.05698294 0.00722626 0.06985972
+v 0.05698294 0.00433753 0.06989871
+v 0.05698294 -0.00432618 0.06989457
+v 0.06377041 -0.00432618 0.06969751
+v 0.06377041 0.01006302 0.06870819
+v 0.05698294 0.01029818 0.06897709
+v 0.05698294 -0.00532870 0.06988225
+v 0.06377041 -0.00694510 0.06966055
+v 0.06377041 0.01150862 0.06769829
+v 0.05698294 0.01162001 0.06788714
+v 0.05698294 -0.00721491 0.06985556
+v 0.06377041 -0.00721491 0.06965645
+v 0.06377041 0.01155565 0.06756282
+v 0.05698294 0.01204825 0.06728366
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+v 0.05698294 -0.00821743 0.06964619
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+v 0.06377041 -0.00980907 0.06879638
+v 0.06377041 0.01199875 0.06624501
+v 0.05698294 0.01226361 0.06654471
+v 0.05698294 -0.01058137 0.06881075
+v 0.06377041 -0.01007393 0.06870811
+v 0.06377041 0.01222897 0.06343699
+v 0.05698294 0.01259531 0.06412464
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+v 0.05698294 -0.01173241 0.06809232
+v 0.06377041 -0.01138339 0.06783574
+v 0.05698294 0.01239483 0.06053045
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+v 0.06377041 0.01178836 0.06150339
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+v 0.06377041 -0.01151706 0.06774132
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+v 0.06377041 -0.01200221 0.06628804
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+v 0.05698294 0.01140222 0.05620756
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+v 0.06377041 0.01074625 0.06005012
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+v 0.06377041 -0.01221261 0.06369965
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+v 0.06377041 -0.01222746 0.06343691
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+v 0.05698294 -0.01233636 0.05984066
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+v 0.05698294 0.00144888 0.04893704
+v 0.05698294 -0.00976445 0.05250450
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+v 0.06377041 -0.00143740 0.05804053
+v 0.05698294 0.00141918 0.04893704
+v 0.05698294 -0.00721483 0.04920385
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+v 0.06377041 -0.00432613 0.05804052
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+v 0.06377041 -0.00943278 0.05875688
+v 0.06377041 -0.00459594 0.05804462
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+
diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_25.obj b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d69841f107d60fd34118755a7b76788cd2735a90
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_25.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00401549 -0.02939476 -0.06251635
+v 0.02281139 -0.02939476 -0.06379243
+v 0.00401549 -0.02939479 -0.05447463
+v 0.00401549 0.00001557 -0.06232304
+v 0.02281139 -0.02939480 -0.05160880
+v 0.02281139 0.00001557 -0.06246377
+v 0.00401549 0.00001554 -0.05545603
+v 0.02281139 0.00001554 -0.05459259
+f 1 2 5
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+f 1 4 2
+f 2 4 6
+f 2 6 8
+f 2 8 5
+f 3 5 7
+f 4 7 8
+f 4 8 6
+f 5 8 7
+
diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_26.obj b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f859c9312ad460f25f663bb19e5b5c14b6ba9d4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_26.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.04154781 -0.02287699 -0.05183293
+v -0.04154781 -0.02287695 -0.06357169
+v -0.03344010 -0.02287698 -0.05410139
+v -0.03344010 0.00001300 -0.05484252
+v -0.04154781 0.00001300 -0.05411395
+v -0.04154781 0.00001303 -0.06255459
+v -0.03344010 0.00001303 -0.06242819
+v -0.03344010 -0.02287695 -0.06258110
+f 1 2 8
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+f 1 6 2
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+f 2 7 8
+f 3 8 7
+f 3 7 4
+f 4 7 6
+f 4 6 5
+
diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_27.obj b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f96e40cdbb5b1b859e562d457d7c48fc094a5c8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_27.obj
@@ -0,0 +1,397 @@
+# https://github.com/mikedh/trimesh
+v 0.04019566 -0.00721592 -0.06576828
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+v 0.04310644 0.00001558 -0.06543549
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diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_28.obj b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bb04cc70042837566846ce4b3b3a711392e5768
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_28.obj
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diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_29.obj b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d15e0d77beeaeb1591133f9aaac19cccc382a33e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_29.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
+v 0.02281139 -0.03726482 -0.04411587
+v 0.02281139 -0.02939481 -0.05161058
+v 0.00401549 -0.02939480 -0.05447410
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+
diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_3.obj b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea837cba2381e90e58c3d3cca0e3b14de94b44f5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_3.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00401182 0.00001300 -0.05545608
+v 0.00401182 -0.03054905 -0.05436809
+v 0.00401182 0.00001303 -0.06232348
+v -0.03344010 0.00001300 -0.05484290
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+v -0.03344010 -0.03054902 -0.06313835
+v -0.03344010 0.00001303 -0.06242796
+f 1 2 6
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+f 2 7 6
+f 3 6 7
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+f 4 7 5
+
diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_30.obj b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c32278d448d636d1973935e7a4f38633bd2ad37e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_30.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
+v 0.00401549 0.00001558 -0.06232353
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diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_31.obj b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38b967eb1dc642610eb9a22390239002aaee53ed
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_31.obj
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diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_32.obj b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f420ecb1540b95fff6ae83e18dddbe525f822733
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_32.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_33.obj b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2808b8883d160e6b9ac0dc88043f2ee0fa7a51e2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_33.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v 0.06377042 0.01223060 0.06343824
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+
diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_34.obj b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bac4ee3e0788f3ab0ee14d795fc82411aa54dc56
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_34.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v 0.05568806 0.00001508 0.07022964
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diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_35.obj b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20e96c03a7aaa7f1677141b945e26cef553fab10
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_35.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_36.obj b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3b2925261b79f13a3ebaf465a1303859a4363a9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_36.obj
@@ -0,0 +1,436 @@
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diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_37.obj b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9608c4c47147cc30f61b0ad5500d56c317f42ad
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_37.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_38.obj b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfaf6449992b7583c075bfbdd02e4710322e4b49
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_38.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_39.obj b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbd7e7725ed009abb1de2863a5fc47801874c3ee
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_39.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+v 0.00401549 0.02311399 -0.05488814
+v 0.00401549 0.03903065 -0.06330827
+v -0.02124206 0.03903061 -0.05152239
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+
diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_4.obj b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5a641f0e72f776f94268076ea82cd5bfdc9615d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_4.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_40.obj b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6d784b46fab40b06570019e18a3283c6b623ef1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_40.obj
@@ -0,0 +1,520 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_41.obj b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..289b7bc920cfe632b949f86506ea0290a2591363
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_41.obj
@@ -0,0 +1,202 @@
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diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_5.obj b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..392f768c3291e8c0e15e5afec3af8a8871c59cc5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_5.obj
@@ -0,0 +1,817 @@
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diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_6.obj b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..816796cd893069276560ec25e3c20aed53d0867f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_6.obj
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diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_7.obj b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbc1e7d7bc2c38ac7df0fa9f3e459eb94be7b853
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_8.obj b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e482ae46338ea9b0ad33e98a3dc7d1d9d481c4f7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_8.obj
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diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_9.obj b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..953dbd3be60a40475f392c6a5984cf9b9f33d5ce
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mesh/mug_039_collision_9.obj
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diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mug_039.xml b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mug_039.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f47d9b15cabc301cbb8408d30c2398298fb29abc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mjcf/mug_039.xml
@@ -0,0 +1,98 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mug_039">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/mug_039.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/mug_039_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mug_039_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/mug_039_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/mug_039_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/mug_039_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/mug_039_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/mug_039_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/mug_039_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/mug_039_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/mug_039_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/mug_039_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/mug_039_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/mug_039_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/mug_039_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/mug_039_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/mug_039_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/mug_039_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/mug_039_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/mug_039_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/mug_039_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/mug_039_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/mug_039_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/mug_039_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/mug_039_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/mug_039_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/mug_039_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/mug_039_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/mug_039_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/mug_039_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/mug_039_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/mug_039_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/mug_039_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/mug_039_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/mug_039_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/mug_039_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/mug_039_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/mug_039_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/mug_039_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/mug_039_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/mug_039_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/mug_039_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/mug_039_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mug_039">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mug_039.urdf b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mug_039.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ce678e342f5949b915ad9f423d2e9b29acea3908
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mug_039.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mug_039">
+   <link name="mug_039">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mug_039.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_039_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>9dcbd4b5514c5fa89310c8e05e953554</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>mug</category>
+         <name>gray mug</name>
+         <color>gray,black</color>
+         <shape>cylinder</shape>
+         <material>ceramic</material>
+         <description>tall gray cylindrical mug with rectangular handle and small printed logo</description>
+         <min_height>0.1500</min_height>
+         <max_height>0.1500</max_height>
+         <real_height>0.1500</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611160706</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.066972 -0.059935 -0.065188</min>
+            <max>0.110048 0.059948 0.084812</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mug_039.usd b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mug_039.usd
new file mode 100644
index 0000000000000000000000000000000000000000..ca914e9365e1ae6f4ff9e85e0087f14adc09a392
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mug_039.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21bd4e99348c39ed7556267dd7ec99889432d434d204b937b9ab3fbc98caeb16
+size 4766370
diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/textures/material_0.png b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1a8ea3599466a17baf8d9f66e356265aadebeda6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1048e7b6fed2344bfcb30722b497cbd97d10dc6638766422574e2921816e476
+size 7509821
diff --git a/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/video.mp4 b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..603e812012eb73f9b81fbcd5b77b0e44ce86064e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08c7d97abfb0d38fb5f15ffcb898a507b16e66f7a53e48453b82d4c5064bec19
+size 206014