diff --git a/.gitattributes b/.gitattributes
index 8899a9af803a9a9759fb36f0c071efd36ebe3a30..e58812a5f556b5d352f615a4465be263e977bace 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4622,3 +4622,5 @@ dataset/kitchen_supplies/ware/03a3daec03c85f45852bd5f8281fadec/mesh/bottle_gs.pl
 dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/04a84459bb7253a18c5a4088fa668433.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mesh/ceramic_teapot.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mesh/ceramic_teapot_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mesh/mug_037.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mug_037.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mesh/material.mtl b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..634f65e56f9231e6a17083aef06d9d6f020cffb3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mug_037_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_037_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mesh/material_0.png b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef440c279f02561b1581ea53dfb0a9d22a1c4243
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57135b5b6f8ffb95cf59add501f570b03302303cc3921b2550d06dae2100230c
+size 8060751
diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mesh/mug_037.glb b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mesh/mug_037.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c54fdb0552f23124d99799fe708fae6bc95214ff
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mesh/mug_037.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee784a58835267bcdfa84bd89e0fb92f816292ba2afb9b76ead1f92545103830
+size 11465984
diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mesh/mug_037.mtl b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mesh/mug_037.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..42dd77b7c5ee62d4b5e032417b01c393ee8e9a7b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mesh/mug_037.mtl
@@ -0,0 +1,6 @@
+newmtl mug_037_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/03e4b1b344c051fd914aeb70e8858ca8/mesh/mug_037.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mesh/mug_037.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31adc4063cb3d66368ca63f1f4c20810bb239c3e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mesh/mug_037.obj
@@ -0,0 +1,104932 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mug_037_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mesh/mug_037_collision.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mesh/mug_037_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2325e1f3bc42259bbab9d9bf11be1e4086d290b8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mesh/mug_037_collision.obj
@@ -0,0 +1,22825 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mesh/mug_037_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mesh/mug_037_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef440c279f02561b1581ea53dfb0a9d22a1c4243
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mesh/mug_037_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57135b5b6f8ffb95cf59add501f570b03302303cc3921b2550d06dae2100230c
+size 8060751
diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/material_0.png
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index 0000000000000000000000000000000000000000..ef440c279f02561b1581ea53dfb0a9d22a1c4243
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+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57135b5b6f8ffb95cf59add501f570b03302303cc3921b2550d06dae2100230c
+size 8060751
diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037.obj
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index 0000000000000000000000000000000000000000..eb84d82b45d2cd392945d8266e62eadec341c7d3
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+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mug_037_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ed037caa94385cacc3273f566e8b21173107014
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision.obj
@@ -0,0 +1,22825 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_0.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38fd88e2d61ebc89696952f19b31266e4ff5eaf1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_0.obj
@@ -0,0 +1,349 @@
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diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_1.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7ca83f88c10fafc405435fd025e71792db6d26a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_10.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dac9b8a0095e35c55e4e33170d0d35f70a0713a8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_11.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e861d44e77537b867f4b6d1e04f2aaf1d9af357
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_11.obj
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diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_12.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0c5bdf96034dec0d87bae52ca4b7487b5bf2e2c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_12.obj
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diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_13.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56b6a5fc865ed34371a6e6e8491ac6072bc7cc15
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_13.obj
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diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_14.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02df825f15cbe9730e7cca7cb193bfda57c17a40
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_14.obj
@@ -0,0 +1,607 @@
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diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_15.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e92a6688c48df4a1c4116b2a0186bf7f38e59e6c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_15.obj
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diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_16.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6216c0cb9bd1d7bdffdae98ed7202a0f7a0fe183
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_16.obj
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diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_17.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e266b8dde5e61b1af8157399167c5e3a117a536
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_17.obj
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diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_18.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57f32ab47591eb0379104bf8f8b19e4acc8bf67c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_18.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_19.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d67eb056bb17ec76626aa752e680f2202b55e9c2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_19.obj
@@ -0,0 +1,682 @@
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diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_2.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..318a11244350f039d2cdc18fa88e709b56edb640
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_20.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a11d82716d7380a1bc6a62aa392e19e12ed84f23
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_20.obj
@@ -0,0 +1,451 @@
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diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_21.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48574681ff0d425b887942b12753a6969817149f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_21.obj
@@ -0,0 +1,691 @@
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diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_22.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7aca739372dcb3373ee65a7b1e5244032169a55
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_22.obj
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diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_23.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7ed668654fdc6fab6c65250bf2fbb4f42523de3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_23.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_24.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..978e2309349ccbc0e12a8a0b467242107eac6936
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_24.obj
@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_25.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6523e873327156176f083617358deef093049b8b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_25.obj
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diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_26.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..287c565c78846e509aec1c957c29ac042e09efc1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_26.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_27.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2323227f8fbba330c6c8ec85a37e8b06a1f018b0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_27.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_28.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b64b03d341fe113faaa3e3f72a767fa6e122601
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_28.obj
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diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_29.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e74ba277e9c9600ce67bf644bf4fc54ce0f63d2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_29.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_3.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a4ada6dec5cefa39b10ce193f0948961d7ef9bf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_3.obj
@@ -0,0 +1,418 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_30.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b9ffee3054aa248324944ce20e4abd869385dab
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_30.obj
@@ -0,0 +1,427 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_31.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1f16237f34987a357611a543ef03d72f3854353
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_31.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_32.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bf6c8a57fbbdd84bb8aee653c3bad5f4d4c6bba
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_32.obj
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diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_33.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..269823fda10c6a9493a8f993b5754957b249a134
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_33.obj
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diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_34.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24e1690f709b52f0272bf9bc1186c79f6d68cc07
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_34.obj
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diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_35.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17079447742614494cfa34a00fae4a8b12f3e510
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_35.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_36.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b1804bab5b156ba9c4a48e8b0e6220cd94a5052
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_36.obj
@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_37.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..867dade9f0ad26b84ca868d56dbbf41b5d8844ba
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_37.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.02654944 -0.03103187 -0.06349357
+v -0.00054632 -0.03103187 -0.06280467
+v -0.02654944 -0.03103191 -0.05069880
+v -0.02654944 0.00003943 -0.06197913
+v -0.02584686 0.00003943 -0.06198039
+v -0.02420496 0.00003943 -0.06198164
+v -0.02100516 0.00003943 -0.06198164
+v -0.00054632 0.00003943 -0.06197663
+v -0.00054632 -0.03103191 -0.05070506
+v -0.01141086 -0.03103191 -0.05070130
+v -0.01141086 -0.03022281 -0.05070130
+v -0.01141086 -0.02704115 -0.05070505
+v -0.01460812 -0.02704115 -0.05070505
+v -0.02654944 -0.01749619 -0.05072004
+v -0.02654944 0.00003939 -0.05078511
+v -0.00054632 0.00003939 -0.05108447
+v -0.00054632 -0.03022281 -0.05070506
+v -0.00054632 -0.02704115 -0.05070756
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+v -0.02654944 -0.01431758 -0.05072504
+v -0.02654944 -0.01113593 -0.05073380
+v -0.00054632 -0.01623388 -0.05072756
+v -0.00054632 -0.01305527 -0.05074258
+f 1 2 9
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+f 1 15 4
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+f 18 22 19
+f 19 22 20
+f 20 22 21
+
diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_38.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcbcbbfa690576fc4f70d41c796c5ab781239267
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_38.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.00054377 -0.03133017 -0.06289497
+v 0.01434659 -0.03133015 -0.06798198
+v -0.00054377 -0.03133021 -0.05070564
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+v 0.01737765 -0.03133015 -0.06879384
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+v -0.00054377 -0.02896134 -0.05070563
+v -0.00054377 0.00005806 -0.05108375
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+v 0.02057643 -0.03022406 -0.06908801
+v 0.02057643 -0.03133015 -0.06899824
+v -0.00054377 -0.02386105 -0.05071325
+v -0.00054377 -0.02577827 -0.05070943
+v -0.00054377 -0.02704105 -0.05070753
+v 0.02428809 -0.03133015 -0.06818065
+v 0.02428809 0.00005806 -0.05071125
+v 0.01417888 0.00005806 -0.05071125
+v 0.00778375 0.00005806 -0.05071507
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+v 0.02374361 -0.03133015 -0.06842898
+v 0.02428809 -0.03018719 -0.06861236
+f 1 2 5
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+
diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_39.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4d680da0811fe36e1d06250117bc9a3f6921f7f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_39.obj
@@ -0,0 +1,655 @@
+# https://github.com/mikedh/trimesh
+v 0.05028860 0.03226397 -0.03352259
+v 0.05019557 0.03226398 -0.03487895
+v 0.04965984 0.03341203 -0.03352259
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+v 0.04935509 0.03341201 -0.02716045
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diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_4.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2665c257a2e827d277940d383bc1b6f9d3657ca9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_4.obj
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+
diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_40.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9867656c4975d4c8fb2a22c63bbd8de019d2f519
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_40.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.04021412 -0.03103191 -0.05058294
+v -0.04021412 -0.03103185 -0.06896064
+v -0.02654944 -0.03103191 -0.05069987
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+
diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_41.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..971ce380fb7253d034270e2c7bb09a5354565bac
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_41.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
+v -0.04021412 -0.03586213 -0.04995317
+v -0.04021412 -0.05714965 -0.04995325
+v -0.04021412 -0.04521351 -0.04312725
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+v -0.03943749 -0.05754965 -0.04995325
+v -0.03993453 -0.05770722 -0.04919340
+v -0.04021412 -0.06004962 -0.04329972
+v -0.04001220 -0.06020114 -0.04312730
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+
diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_42.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3279ddf4bb9826d2f16668c5337d88182e590106
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_42.obj
@@ -0,0 +1,577 @@
+# https://github.com/mikedh/trimesh
+v 0.04659083 -0.03133022 -0.04879561
+v 0.04503137 -0.03408232 -0.04879562
+v 0.04524821 -0.03327644 -0.04927575
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diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_43.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0cfac4c4a4483de0f8de28ee6d08947886ec486
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_43.obj
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+f 10 19 18
+f 10 18 17
+f 10 17 27
+f 10 27 26
+f 10 26 39
+f 10 39 38
+f 10 38 37
+f 10 37 52
+f 10 52 51
+f 10 51 49
+f 10 49 33
+f 10 33 21
+f 10 21 13
+f 10 13 11
+f 12 13 21
+f 12 21 33
+f 12 33 50
+f 12 50 56
+f 12 56 54
+f 12 54 44
+f 12 44 43
+f 12 43 42
+f 12 42 41
+f 12 41 29
+f 12 29 20
+f 14 22 23
+f 14 23 24
+f 14 24 15
+f 16 25 26
+f 16 26 27
+f 16 27 17
+f 20 29 30
+f 20 30 31
+f 20 31 32
+f 20 32 28
+f 22 34 35
+f 22 35 23
+f 25 36 37
+f 25 37 38
+f 25 38 39
+f 25 39 26
+f 28 32 40
+f 29 41 30
+f 30 41 42
+f 30 42 43
+f 30 43 44
+f 30 44 45
+f 32 46 47
+f 32 47 48
+f 32 48 40
+f 33 49 50
+f 34 47 35
+f 35 47 46
+f 36 51 52
+f 36 52 37
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+f 49 51 50
+f 50 51 53
+f 50 53 57
+f 50 57 58
+f 50 58 56
+f 54 56 55
+f 55 56 59
+f 56 58 59
+
diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_44.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d48e588d0b7b5fa5c6e993c069987424b51e7dd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_44.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.03084432 0.03226109 -0.04567512
+v 0.03446850 0.03226105 -0.03669800
+v 0.04773696 0.03226109 -0.04567512
+v 0.04222083 0.00005804 -0.04567524
+v 0.04510971 0.00006430 -0.03669812
+v 0.04995113 0.03226105 -0.03669800
+v 0.04795177 0.03226109 -0.04523312
+v 0.04824644 0.03133434 -0.04567512
+v 0.05599877 0.00005804 -0.04567524
+v 0.04510971 0.00005800 -0.03670602
+v 0.05035320 0.00005800 -0.03669812
+v 0.05006404 0.03226105 -0.03670590
+v 0.05006404 0.03225790 -0.03669800
+v 0.04798482 0.03226109 -0.04515227
+v 0.04799308 0.03221696 -0.04519269
+v 0.04902581 0.02975508 -0.04567513
+v 0.05600153 0.00098164 -0.04567524
+v 0.05897578 0.00005801 -0.03870602
+v 0.05897578 0.00005800 -0.03669812
+v 0.04949122 0.03226107 -0.03999500
+v 0.05065063 0.03118929 -0.03669801
+v 0.05065063 0.03118929 -0.03670591
+v 0.05038350 0.03066605 -0.03988604
+v 0.04868983 0.03226108 -0.04301344
+v 0.04997316 0.02994735 -0.04281134
+v 0.05065614 0.02795515 -0.04370151
+v 0.05027059 0.02715765 -0.04567514
+v 0.05600153 0.00159317 -0.04567523
+v 0.05897578 0.00159314 -0.03870864
+v 0.05897578 0.00034171 -0.03870778
+v 0.05897578 0.00878649 -0.03669809
+v 0.04891014 0.03226107 -0.04219622
+v 0.05143825 0.02959112 -0.03669801
+v 0.05117939 0.02907418 -0.03988604
+v 0.05099762 0.02870221 -0.04158112
+v 0.05138042 0.02695274 -0.04281135
+v 0.05113257 0.02583372 -0.04507409
+v 0.05060932 0.02644210 -0.04567514
+v 0.05588861 0.00415907 -0.04567522
+v 0.05585832 0.00477060 -0.04567522
+v 0.05897578 0.00314718 -0.03849423
+v 0.05828179 0.01127989 -0.03669808
+v 0.05897578 0.00829790 -0.03701267
+v 0.05429684 0.01640859 -0.04500471
+v 0.05401319 0.01853002 -0.04413826
+v 0.05258114 0.02704413 -0.03670592
+v 0.05258389 0.02703782 -0.03669802
+v 0.05207992 0.02704415 -0.03988605
+v 0.05255084 0.02386357 -0.04306619
+v 0.05166683 0.02378793 -0.04567515
+v 0.05132810 0.02471153 -0.04567515
+v 0.05897578 0.00471383 -0.03825872
+v 0.05560771 0.00741847 -0.04567521
+v 0.05431887 0.01958600 -0.04201789
+v 0.05398564 0.02170745 -0.04057588
+v 0.05419494 0.02235994 -0.03845550
+v 0.05429409 0.02262472 -0.03669804
+v 0.05897578 0.00795747 -0.03718227
+v 0.05455020 0.01412008 -0.04567519
+v 0.05451165 0.01432182 -0.04567519
+v 0.05453368 0.01432182 -0.04561719
+v 0.05385896 0.01704218 -0.04567518
+v 0.05366344 0.01772622 -0.04567517
+v 0.05295017 0.02009668 -0.04567517
+v 0.05366894 0.02066092 -0.04307323
+v 0.05371300 0.02421974 -0.03670593
+v 0.05371300 0.02421974 -0.03669803
+v 0.05349820 0.02359562 -0.03966374
+v 0.05275464 0.02067669 -0.04567516
+v 0.05555264 0.00795750 -0.04567521
+v 0.05897578 0.00619222 -0.03781057
+v 0.05517810 0.01049188 -0.04567520
+v 0.05506519 0.01124841 -0.04567520
+f 1 2 6
+f 1 6 12
+f 1 12 20
+f 1 20 32
+f 1 32 24
+f 1 24 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 27
+f 1 27 38
+f 1 38 51
+f 1 51 50
+f 1 50 69
+f 1 69 64
+f 1 64 63
+f 1 63 62
+f 1 62 60
+f 1 60 59
+f 1 59 73
+f 1 73 72
+f 1 72 70
+f 1 70 53
+f 1 53 40
+f 1 40 39
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+f 1 28 17
+f 1 17 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 11
+f 2 11 19
+f 2 19 31
+f 2 31 42
+f 2 42 57
+f 2 57 67
+f 2 67 47
+f 2 47 33
+f 2 33 21
+f 2 21 13
+f 2 13 6
+f 3 7 8
+f 4 9 18
+f 4 18 19
+f 4 19 11
+f 4 11 10
+f 4 10 5
+f 5 10 11
+f 6 13 12
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 9 17 18
+f 12 13 21
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+f 12 22 23
+f 12 23 20
+f 14 24 25
+f 14 25 15
+f 15 25 26
+f 15 26 16
+f 16 26 27
+f 17 28 29
+f 17 29 30
+f 17 30 18
+f 18 30 29
+f 18 29 41
+f 18 41 52
+f 18 52 71
+f 18 71 58
+f 18 58 43
+f 18 43 31
+f 18 31 19
+f 20 23 32
+f 21 33 22
+f 22 33 34
+f 22 34 23
+f 23 34 35
+f 23 35 32
+f 24 32 35
+f 24 35 25
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+f 26 36 37
+f 26 37 27
+f 27 37 38
+f 28 39 29
+f 29 39 40
+f 29 40 41
+f 31 43 44
+f 31 44 45
+f 31 45 42
+f 33 46 34
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+f 34 46 48
+f 34 48 35
+f 35 48 49
+f 35 49 36
+f 36 49 37
+f 37 49 50
+f 37 50 51
+f 37 51 38
+f 40 52 41
+f 40 53 52
+f 42 45 54
+f 42 54 55
+f 42 55 56
+f 42 56 57
+f 43 58 59
+f 43 59 60
+f 43 60 61
+f 43 61 44
+f 44 61 60
+f 44 60 62
+f 44 62 63
+f 44 63 45
+f 45 63 64
+f 45 64 65
+f 45 65 54
+f 46 47 66
+f 46 66 56
+f 46 56 48
+f 47 67 66
+f 48 56 68
+f 48 68 49
+f 49 68 55
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+f 49 65 50
+f 50 65 69
+f 52 53 70
+f 52 70 71
+f 54 65 55
+f 55 68 56
+f 56 66 57
+f 57 66 67
+f 58 71 70
+f 58 70 72
+f 58 72 73
+f 58 73 59
+f 64 69 65
+
diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_45.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bcb81e662f0526400c913713d09913b05b92542
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_45.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.06040855 0.00004007 -0.04894681
+v -0.05397203 -0.02402089 -0.04894690
+v -0.07602854 0.00004007 -0.04894681
+v -0.06563896 0.00004005 -0.04312641
+v -0.05982449 -0.02402091 -0.04312650
+v -0.07135133 -0.02402089 -0.04894690
+v -0.07603092 -0.00086207 -0.04894681
+v -0.07679067 0.00004006 -0.04732820
+v -0.07822233 0.00004005 -0.04312641
+v -0.07371843 -0.02402091 -0.04312650
+v -0.07222742 -0.02402090 -0.04705197
+v -0.07349525 -0.02067851 -0.04710893
+v -0.07170034 -0.02311640 -0.04894689
+v -0.07603092 -0.00158990 -0.04894682
+v -0.07679067 -0.00158991 -0.04733048
+v -0.07738897 -0.00158991 -0.04574036
+v -0.07709694 0.00004006 -0.04651234
+v -0.07782583 0.00004005 -0.04436900
+v -0.07822470 -0.00158992 -0.04312642
+v -0.07408881 -0.02306224 -0.04312649
+v -0.07358547 -0.02402091 -0.04356178
+v -0.07253132 -0.02402090 -0.04639222
+v -0.07377304 -0.01903440 -0.04779886
+v -0.07286371 -0.02361812 -0.04600536
+v -0.07383476 -0.02239800 -0.04478442
+v -0.07278536 -0.02019328 -0.04894688
+v -0.07590271 -0.00404193 -0.04894682
+v -0.07670757 -0.00477213 -0.04711514
+v -0.07730825 -0.00477213 -0.04552501
+v -0.07738660 0.00004006 -0.04573807
+v -0.07806800 -0.00477214 -0.04312643
+v -0.07488892 -0.02073976 -0.04312649
+v -0.07268327 -0.02402090 -0.04603442
+v -0.07366145 -0.01736438 -0.04894687
+v -0.07343352 -0.01816523 -0.04894688
+v -0.07411967 -0.02067851 -0.04551937
+v -0.07460401 -0.01778366 -0.04654204
+v -0.07406507 -0.01691213 -0.04840562
+v -0.07585997 -0.00477212 -0.04894683
+v -0.07654375 -0.00795435 -0.04668955
+v -0.07715155 -0.00795435 -0.04509943
+v -0.07559881 -0.00729246 -0.04894684
+v -0.07552521 -0.00795434 -0.04894684
+v -0.07775460 -0.00795436 -0.04312644
+v -0.07583861 -0.01757403 -0.04312647
+v -0.07433810 -0.01471214 -0.04894686
+v -0.07585997 -0.01750101 -0.04312647
+v -0.07559406 -0.01431643 -0.04624689
+v -0.07635857 -0.01096933 -0.04600133
+v -0.07703047 -0.00979633 -0.04477697
+v -0.07512397 -0.01052414 -0.04894685
+v -0.07774748 -0.00801796 -0.04312644
+v -0.07442832 -0.01431642 -0.04894686
+v -0.07661498 -0.01448368 -0.04312646
+v -0.07444969 -0.01420807 -0.04894686
+v -0.07663872 -0.01438239 -0.04312646
+v -0.07684290 -0.01191859 -0.04417590
+v -0.07499339 -0.01132500 -0.04894685
+v -0.07732012 -0.01094814 -0.04312645
+f 1 2 6
+f 1 6 13
+f 1 13 26
+f 1 26 35
+f 1 35 34
+f 1 34 46
+f 1 46 53
+f 1 53 55
+f 1 55 58
+f 1 58 51
+f 1 51 43
+f 1 43 42
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+f 1 39 27
+f 1 27 14
+f 1 14 7
+f 1 7 3
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+f 1 8 17
+f 1 17 30
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+f 1 18 9
+f 1 9 4
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+f 32 45 36
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+f 40 50 41
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+f 41 52 44
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+f 48 49 55
+f 49 57 50
+f 49 51 58
+f 49 58 55
+f 50 57 59
+f 50 59 52
+f 56 59 57
+
diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_46.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12c2c1d67e2a17b6bab369da02b411e601c569f1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_46.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.05410671 0.01330302 0.04481688
+v 0.05364221 0.01476494 0.04481688
+v 0.04165838 0.01330302 0.04481688
+v 0.05248322 0.01330312 0.01646207
+v 0.05227373 0.01431980 0.01646207
+v 0.05203465 0.01522079 0.01646208
+v 0.05137432 0.01768186 0.01646208
+v 0.05095991 0.01906840 0.01646209
+v 0.05280655 0.01734345 0.04481689
+v 0.03271435 0.03120889 0.04481694
+v 0.03238874 0.03120889 0.04314052
+v 0.03219064 0.03120890 0.04201920
+v 0.04119615 0.01330303 0.04198028
+v 0.04021932 0.01330312 0.01646207
+v 0.05058648 0.02012015 0.01646209
+v 0.05243540 0.01843726 0.04481690
+v 0.04652887 0.03120889 0.04481694
+v 0.03181493 0.03120890 0.03962392
+v 0.04087282 0.01330303 0.03962386
+v 0.03113411 0.03120899 0.01646213
+v 0.04018061 0.01330312 0.01736412
+v 0.03093374 0.03120897 0.02054493
+v 0.03106808 0.03120899 0.01760565
+v 0.03107947 0.03120899 0.01736418
+v 0.05045669 0.02047949 0.01646210
+v 0.05086200 0.02228312 0.04481691
+v 0.05019484 0.02116137 0.01646210
+v 0.04915653 0.02386434 0.01646211
+v 0.04702754 0.03034646 0.04481694
+v 0.04553838 0.03120899 0.01646213
+v 0.03143468 0.03120892 0.03662080
+v 0.03141418 0.03120892 0.03644317
+v 0.04075214 0.01330304 0.03857193
+v 0.04011230 0.01330311 0.01952903
+v 0.04008270 0.01330310 0.02054487
+v 0.03084949 0.03120896 0.02372569
+v 0.05024265 0.02378536 0.04481692
+v 0.04813416 0.02622549 0.01646212
+v 0.04786319 0.02881442 0.04481694
+v 0.04609169 0.03022736 0.01646213
+v 0.04573420 0.03086191 0.01646213
+v 0.04051761 0.01330305 0.03637372
+v 0.03113184 0.03120893 0.03343727
+v 0.04004627 0.01330310 0.02270979
+v 0.03084494 0.03120895 0.02690645
+v 0.04003033 0.01330309 0.02372563
+v 0.04871707 0.02711236 0.04481693
+v 0.04736453 0.02781713 0.01646212
+v 0.03111590 0.03120893 0.03326518
+v 0.04027625 0.01330306 0.03326512
+v 0.04002806 0.01330308 0.02589054
+v 0.04002806 0.01330308 0.02690639
+v 0.04010775 0.01330307 0.03008714
+v 0.03092918 0.03120894 0.03008720
+v 0.03094968 0.03120894 0.03044802
+f 1 2 9
+f 1 9 16
+f 1 16 26
+f 1 26 37
+f 1 37 47
+f 1 47 39
+f 1 39 29
+f 1 29 17
+f 1 17 10
+f 1 10 3
+f 1 3 13
+f 1 13 19
+f 1 19 33
+f 1 33 42
+f 1 42 50
+f 1 50 53
+f 1 53 52
+f 1 52 51
+f 1 51 46
+f 1 46 44
+f 1 44 35
+f 1 35 34
+f 1 34 21
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+f 1 14 4
+f 1 4 5
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+f 1 6 7
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+f 1 8 2
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+f 3 12 13
+f 4 14 20
+f 4 20 30
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+f 4 15 8
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+f 10 17 30
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+f 10 20 24
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+f 22 35 36
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+f 29 39 40
+f 29 40 41
+f 29 41 30
+f 32 42 33
+f 32 43 42
+f 35 44 36
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+f 38 48 47
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+f 39 48 40
+f 42 43 49
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+f 45 51 52
+f 45 52 53
+f 45 53 54
+f 45 46 51
+f 49 55 50
+f 50 55 54
+f 50 54 53
+
diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_47.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8461eced352151e4415a83615e93b663321b3235
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_47.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v 0.06018273 0.01330289 0.07798743
+v 0.06018273 0.01420564 0.07738501
+v 0.05771974 0.02319977 0.07679297
+v 0.05816340 0.02068261 0.07738504
+v 0.05999451 0.01330289 0.07825593
+v 0.06018273 0.01330300 0.04993566
+v 0.06018273 0.01527316 0.07664836
+v 0.06018273 0.01721012 0.07472064
+v 0.05908030 0.02068262 0.07461050
+v 0.05731104 0.02532078 0.07560191
+v 0.05436136 0.03120877 0.07648662
+v 0.05460336 0.03022714 0.07682053
+v 0.05513575 0.02681073 0.07793240
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diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_48.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..580f1c4e5dab8fa6a8395e27fad821a1ae6cb50b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_48.obj
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diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_49.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5320aa6a722ccee290d537fa9616cc04194eaf16
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_49.obj
@@ -0,0 +1,466 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_5.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..298e32f10b5455441084f9628ed6cb15353285b4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_5.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_50.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b25491c4706cd470879a8a79ff590c794158a6bb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_50.obj
@@ -0,0 +1,244 @@
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diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_51.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..742d1c7b64a348b4324da4430f30bd713889a287
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_51.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_52.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3f860e23d381fa9093a2bc4aab8b7794e782cb3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_52.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_6.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2079ea8cdc270692f6b029c9846df718d1d37826
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_6.obj
@@ -0,0 +1,346 @@
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diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_7.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e8ea0a7cffa30c948e973100b791b65f08febd4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_7.obj
@@ -0,0 +1,424 @@
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diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_8.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86bed64f66573f6e62cb882b81e6515a0aba8057
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_8.obj
@@ -0,0 +1,562 @@
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diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_9.obj b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..849204947bfdcb015b811d2c2b5068555f816bfc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mesh/mug_037_collision_9.obj
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diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mug_037.xml b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mug_037.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b57022dd8f87441747a3508f91223b650df976cd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mjcf/mug_037.xml
@@ -0,0 +1,120 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mug_037">
+  <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_037.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/mug_037_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mug_037_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/mug_037_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/mug_037_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/mug_037_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/mug_037_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/mug_037_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/mug_037_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/mug_037_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/mug_037_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/mug_037_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/mug_037_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/mug_037_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/mug_037_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/mug_037_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/mug_037_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/mug_037_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/mug_037_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/mug_037_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/mug_037_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/mug_037_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/mug_037_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/mug_037_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/mug_037_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/mug_037_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/mug_037_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/mug_037_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/mug_037_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/mug_037_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/mug_037_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/mug_037_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/mug_037_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/mug_037_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/mug_037_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/mug_037_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/mug_037_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/mug_037_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/mug_037_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/mug_037_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/mug_037_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/mug_037_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/mug_037_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/mug_037_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/mug_037_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/mug_037_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/mug_037_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/mug_037_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/mug_037_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/mug_037_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/mug_037_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/mug_037_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/mug_037_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/mug_037_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mug_037">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_52" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mug_037.urdf b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mug_037.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d42775d7c38d73cacc5fa7682387227743fd82df
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mug_037.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mug_037">
+   <link name="mug_037">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mug_037.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_037_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>03e4b1b344c051fd914aeb70e8858ca8</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>mug</category>
+         <name>gray mug</name>
+         <color>gray</color>
+         <shape>cylinder</shape>
+         <material>ceramic</material>
+         <description>plain gray mug with curved body and loop handle</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>20260611160615</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.081121 -0.071047 -0.068660</min>
+            <max>0.113048 0.071050 0.081340</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>1</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>NO: {"summary":"Handle and mug body are merged into one color despite clear functional boundary.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mug_037.usd b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mug_037.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/mug_037.usd
@@ -0,0 +1,3 @@
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+size 4960230
diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/textures/material_0.png b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/textures/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/textures/material_0.png
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diff --git a/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/video.mp4 b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/video.mp4
@@ -0,0 +1,3 @@
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+size 142039