diff --git a/.gitattributes b/.gitattributes
index f4986fb7c6e9d18b1d8048842b1f51b2fa1c6c1a..f5e8246277480dffacf680153d36fe01c6cb9317 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4727,6 +4727,5 @@ dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mesh/yellow_cup.g
 dataset/kitchen_supplies/ware/652cbbb610c75ef08cad352fb58f84fc/mesh/yellow_cup_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/mesh/thermos_036.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/thermos_036.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/6032cdcee4405cb898cfeee0abb05000/mesh/thermos_019.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/6032cdcee4405cb898cfeee0abb05000/thermos_019.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/68cca1d325dc50b5b90392c981d02694/68cca1d325dc50b5b90392c981d02694.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mesh/mug_018.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mug_018.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mesh/material.mtl b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4e45146ad14540a8e0b494ce9cc9e16233d16562
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mug_018_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_018_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mesh/material_0.png b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9fb92f0edde54d949d21bf8b27020568db6452db
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cef45ea64f99f8c427a67c98d52aa316d19402e7728e49b1de146bc10b4d2f77
+size 11262579
diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mesh/mug_018.glb b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mesh/mug_018.glb
new file mode 100644
index 0000000000000000000000000000000000000000..aa45c4b865f5202503fa3071924085924c51d16d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mesh/mug_018.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81808d55acfcba03f94e4829c1a7e4576ae979f53c989770ce0953389720a8a0
+size 14601628
diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mesh/mug_018.mtl b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mesh/mug_018.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..05cfaddd4702427c325e81a12f896980cb5f0cc0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mesh/mug_018.mtl
@@ -0,0 +1,6 @@
+newmtl mug_018_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/6605d23a66cf5a43a60b644b987262bd/mesh/mug_018.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mesh/mug_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e379daa6523ba1929a765fa22d7aa4a0834f5856
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mesh/mug_018.obj
@@ -0,0 +1,105614 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mug_018_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mesh/mug_018_collision.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mesh/mug_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d837e184ecf31075df90cb9ca4cc6b140c66b57
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mesh/mug_018_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mesh/mug_018_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mesh/mug_018_geometry_Looks_material_0.png
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index 0000000000000000000000000000000000000000..9fb92f0edde54d949d21bf8b27020568db6452db
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+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mesh/mug_018_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 11262579
diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/material_0.png
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+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/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/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018.obj
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index 0000000000000000000000000000000000000000..d9c92715711d5839675ba0d6bd171aab84e29ae5
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+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c06040c6b43b2cc1381ea808691ccd7868ec164
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision.obj
@@ -0,0 +1,31434 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_0.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f7261b03f393d7e952c4f1f15c998b059fc8934
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_1.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c0a89281b5e74962e44473ed121f78fc6a34968
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_10.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b629055ccc366ffeaa2a25eb33c48884535cf30
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_11.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e448e4f61952f39726afe89e20b4ccb23e1f985c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_11.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+v 0.01530256 -0.01712400 -0.02742550
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+v 0.03168861 0.00094733 -0.02742550
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+
diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_12.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6fa07cc31d766fe3bd18f35ae113d91c642b0d0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_12.obj
@@ -0,0 +1,961 @@
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diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_13.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4109011cfacb17565d8ff646bc792d63d3045232
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_13.obj
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diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_14.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4982ebe4c5e21a656a5471c4b3fee4302a6c27ed
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_14.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_15.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fd6b4c9325d9ae6ed5266b715da3bf5fc1d21b1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_15.obj
@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_16.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbf515056bdbe0c595c6c2613e24f7b867f7fd05
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_16.obj
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diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_17.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cbeeffea353552988a0ef2dbb399c1f350d7d12
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_17.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_18.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d5a5e4cc4aabec5f0b9e07156a79258a653c27d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_18.obj
@@ -0,0 +1,787 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_19.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3161f329157d29ca11f2de258e77ec1339f03c4c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_19.obj
@@ -0,0 +1,172 @@
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diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_2.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..297781d7cfb08400cf0159a40fa523e9f38f3ebb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_2.obj
@@ -0,0 +1,3661 @@
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diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_20.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5da58febdbfd61dffd026fa95e6779c05a4bbd27
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_20.obj
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diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_21.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66b6e13c7ce0e364dded034a73051b329f9cd49b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_21.obj
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diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_22.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59b008245733bbcd8d88af23de249c2c896136a8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_22.obj
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diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_23.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5ba77df40d52818c4bf28f3fb38893a30640c85
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_23.obj
@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_24.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4eaf605bd653ff8ab4506f1132f25329a224a0fc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_24.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_25.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c3f5b07585d1c3d68d9e35a322c2559b3f52d3a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_25.obj
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diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_26.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d6445b1d65b387296e1fd632f9ad311ad2da053
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_26.obj
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diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_27.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d53039e24ae61c942a4b2b9af51ce227307ce347
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_27.obj
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diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_28.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ee004a248107cedfebeb1072fb6279bd7a1cc56
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_28.obj
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diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_29.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d671d7dc9a11e69d125d174e02da44df555d31f4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_29.obj
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diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_3.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..912d3111c870ddea384f85a492f0531b3d147436
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_3.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_30.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..703f09a61f1f74ffa712eb848d460a57637ca391
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_30.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.03030725 -0.00521267 -0.01750216
+v -0.03024786 -0.00678004 -0.01750216
+v -0.02781996 -0.00678006 -0.01003478
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+v -0.02785430 -0.00383029 -0.01003477
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+v -0.02769931 -0.00837785 -0.01003479
+v -0.03028219 -0.00364408 -0.01750215
+v -0.02779583 -0.00248926 -0.01003477
+v -0.02991189 -0.00991721 -0.01750218
+v -0.02760836 -0.00898509 -0.01003479
+v -0.03020980 -0.00255252 -0.01750215
+v -0.02776613 -0.00207552 -0.01003477
+v -0.03017918 -0.00210105 -0.01750215
+v -0.02990539 -0.00995615 -0.01750218
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+v -0.02967894 -0.01115845 -0.01750218
+v -0.02961675 -0.01148458 -0.01750218
+v -0.02734756 -0.01048917 -0.01003480
+v -0.02759908 -0.00057508 -0.01003476
+v -0.03000748 -0.00050813 -0.01750214
+v -0.02714709 -0.01148460 -0.01003480
+v -0.02253353 -0.01148458 -0.01750218
+v -0.02731601 0.00094727 -0.01003476
+v -0.02977546 0.00094729 -0.01750214
+v -0.02990446 0.00016360 -0.01750214
+v -0.02082584 -0.01148460 -0.01003480
+v -0.02172609 -0.01148459 -0.01491170
+v -0.02269038 0.00094729 -0.01750214
+v -0.02209269 0.00094729 -0.01562141
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+v -0.02088245 -0.01148460 -0.01102670
+v -0.02150428 -0.01148459 -0.01414859
+v -0.02168897 0.00094728 -0.01427208
+v -0.02101239 0.00094727 -0.01091263
+v -0.02112469 -0.01148459 -0.01258801
+v -0.02102260 0.00094727 -0.01102593
+v -0.02159894 0.00094728 -0.01396069
+v -0.02126761 0.00094728 -0.01258358
+v -0.02124998 0.00094728 -0.01247394
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+f 1 16 20
+f 1 20 25
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+f 1 30 29
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+f 3 24 19
+f 3 19 15
+f 3 15 11
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+f 3 5 4
+f 6 10 7
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+f 8 12 9
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+f 17 21 18
+f 18 21 22
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+f 22 26 23
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+f 22 37 40
+f 22 40 36
+f 22 36 31
+f 22 31 26
+f 24 28 29
+f 24 29 30
+f 24 30 25
+f 27 33 34
+f 27 34 32
+f 28 35 39
+f 28 39 41
+f 28 41 44
+f 28 44 43
+f 28 43 42
+f 28 42 38
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+f 28 34 33
+f 28 33 29
+f 31 36 35
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+f 36 40 41
+f 36 41 39
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+f 37 42 40
+f 40 42 43
+f 40 43 44
+f 40 44 41
+
diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_31.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bc58151cb32edb81eb3a24e7f018156971b849b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_31.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.01092165 -0.03586649 -0.00012722
+v -0.01092165 -0.03582757 -0.00097362
+v -0.01091515 -0.03582488 -0.00108305
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+v -0.01011337 -0.03599801 -0.00162633
+v -0.00849897 -0.03647046 -0.00166119
+v -0.00849897 -0.03661676 -0.00012722
+v 0.00014507 -0.02946838 -0.00012720
+v -0.01092165 -0.02508484 -0.00458190
+v -0.01092165 -0.03543833 -0.00245433
+v -0.00963338 -0.03590406 -0.00260831
+v -0.00694309 -0.03685163 -0.00166120
+v -0.00694309 -0.03699928 -0.00012723
+v 0.00014507 -0.02799466 -0.00411707
+v -0.01092165 -0.02476004 -0.00542830
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+v -0.00997251 -0.03133261 -0.01002057
+v -0.01092165 -0.03089909 -0.01002056
+v -0.00849897 -0.03606512 -0.00283201
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+v -0.00849897 -0.03184935 -0.01002057
+v -0.00690083 -0.03231239 -0.01002057
+v -0.00383132 -0.03730931 -0.00212798
+v -0.00529511 -0.03718449 -0.00157598
+v -0.00471436 -0.03737911 -0.00099880
+v -0.00556707 -0.03727040 -0.00012723
+v 0.00014507 -0.02784434 -0.00455092
+v -0.01092165 -0.02447281 -0.00634249
+v 0.00014507 -0.02772623 -0.00489762
+v -0.00071955 -0.03775089 -0.00012723
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+v -0.00071955 -0.03761264 -0.00166120
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+v -0.01092165 -0.02408358 -0.00872383
+v 0.00014507 -0.03319285 -0.01002057
+v -0.00127322 -0.03315527 -0.01002057
+v -0.00071955 -0.03318883 -0.01002057
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+f 61 67 65
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+
diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_32.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9971912f930afaa8edb07951722ef21bbbb08bb1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_32.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.01944574 -0.01619502 -0.01272453
+v 0.01944574 -0.01934338 -0.02469793
+v 0.01115720 -0.02632821 -0.02469796
+v 0.01115720 -0.02448251 -0.01272456
+v 0.01944574 -0.02551180 -0.01272456
+v 0.01944574 -0.03026005 -0.02469797
+v 0.01115720 -0.03492210 -0.02469799
+v 0.01115720 -0.03099948 -0.01272458
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+v 0.01944574 -0.02983624 -0.01892810
+v 0.01944574 -0.03026555 -0.02361736
+v 0.01854102 -0.03095358 -0.02351305
+v 0.01853615 -0.03094990 -0.02469797
+v 0.01173087 -0.03470927 -0.02469799
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+v 0.01115720 -0.03459187 -0.01897148
+v 0.01173087 -0.03448362 -0.01914846
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+v 0.01170490 -0.03077014 -0.01272458
+v 0.01784564 -0.02694656 -0.01272457
+v 0.01944574 -0.02985826 -0.01895974
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+v 0.01636077 -0.03238283 -0.02469798
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+
diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_33.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5babe540fbc0bc9c09eefcf759741aa270ecfbc8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_33.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.03118293 0.00094730 -0.02039022
+v 0.03109887 0.00139969 -0.02039021
+v 0.03089382 0.00094730 -0.01903650
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diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_34.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5dd89e97c46ab22faf6553ce19ea54bf338a1e7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_34.obj
@@ -0,0 +1,520 @@
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diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_35.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1de9e79b41438dd7b86811acee577ecd1f8fd14b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_35.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_36.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec230983780ee28a15d6871ece7226a5f53acbd7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_36.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_37.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..340b0088d9adae0e35b7d8798ef9992b9a5b4f63
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_37.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_38.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6742ab0693531e53203dfc96674d48fa506181f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_38.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_39.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..758a4e2a2f138170c0cd45b0299ba6cf78070a20
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_39.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_4.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09d7f2536fb955aa6f4b30be12b807bb4440f9c2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_4.obj
@@ -0,0 +1,1627 @@
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diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_40.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..574d988444bb858f315336ea445a8892f743c579
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_40.obj
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diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_41.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a7dd6252261c31957ce45d2292b8a662967b9c6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_41.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_42.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2a8b14b99a74440be4f8050af458d7b1894474f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_42.obj
@@ -0,0 +1,469 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_43.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..840fcc6f838b2f27acd42d08fb80f96c5858c8f0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_43.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_44.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4790ef1aa5592da8ba464dfceed3cda6f4f1417b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_44.obj
@@ -0,0 +1,253 @@
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+f 71 85 72
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+
diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_45.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c70687652cffbeb279ce356f6b822f6f575865b1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_45.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.00027987 0.01779137 -0.01270755
+v 0.00027987 0.01790027 -0.01314589
+v 0.01424187 0.01264716 -0.01270757
+v 0.00027987 0.02374576 -0.01270753
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+v 0.01424187 0.01861607 -0.01270755
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+v 0.00027987 0.02721446 -0.01908147
+v 0.01424187 0.01551911 -0.02034942
+v 0.01424187 0.01982699 -0.01270830
+v 0.01342186 0.02032064 -0.01270755
+v 0.00027987 0.02747726 -0.02034938
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+
diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_46.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b736470122163549c1318f00396ec1d0793c3b2a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_46.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.02081922 -0.01148558 -0.00992061
+v -0.01453799 -0.02145826 -0.00992065
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+
diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_47.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cff0e9243b5f829b338210de5f775940cf41582
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_47.obj
@@ -0,0 +1,910 @@
+# https://github.com/mikedh/trimesh
+v 0.02401375 -0.01065051 0.00143849
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diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_48.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..687510d9fc4473322a1732fc7147e5ee7e2e3e1b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_48.obj
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diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_49.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3406ea338746f6999431a1130b9ca460d2ff838c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_49.obj
@@ -0,0 +1,286 @@
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diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_5.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d3205fa10663cff8129b0d420ffbad3ff18b816
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_5.obj
@@ -0,0 +1,1618 @@
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diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_50.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..093ecd7d994295dc6f5526bbde56645289e0025b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_50.obj
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diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_51.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f04407b4c53246a46c6965d1cefcf5e51edd70bb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_51.obj
@@ -0,0 +1,304 @@
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diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_6.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca3e37022fa06d80d82eb25ac615b364bda98c0b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_6.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_7.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d2c85e0240adb7aa059db71477d621683d8762b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_7.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_8.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eab758198da488a57e65e0faf909203ea1b2b254
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_8.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_9.obj b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d830287f8a3a4857c38613b42c27d875efef1b1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mesh/mug_018_collision_9.obj
@@ -0,0 +1,529 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mug_018.xml b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mug_018.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4af7cd272f9e736f53c2fa8168451bd096f88ecc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mjcf/mug_018.xml
@@ -0,0 +1,118 @@
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+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_51" 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/6605d23a66cf5a43a60b644b987262bd/mug_018.urdf b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mug_018.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8dc6f9835d10f0167939511b462119784cb03746
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mug_018.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mug_018">
+   <link name="mug_018">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mug_018.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_018_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>6605d23a66cf5a43a60b644b987262bd</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>mug</category>
+         <name>wooden mug</name>
+         <color>beige,brown</color>
+         <shape>cylinder</shape>
+         <material>wood</material>
+         <description>light wooden mug with dark side handle and rounded base</description>
+         <min_height>0.0752</min_height>
+         <max_height>0.0752</max_height>
+         <real_height>0.0752</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518192155</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.033047 -0.037843 -0.035313</min>
+            <max>0.033168 0.057466 0.039876</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mug_018.usd b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mug_018.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/mug_018.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef800ead640e5064ffbfde3a4087dc04438ef7f75e625de5dc7e2f68afda24d7
+size 4903877
diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/textures/material_0.png b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9fb92f0edde54d949d21bf8b27020568db6452db
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cef45ea64f99f8c427a67c98d52aa316d19402e7728e49b1de146bc10b4d2f77
+size 11262579
diff --git a/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/video.mp4 b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:483aa2e28eec8dd1a7ccd444b962e32a0aeec56db924440acdb0db4f4d1d36a4
+size 244549