diff --git a/.gitattributes b/.gitattributes
index d1769b7c90d5eca111581da059eabdd7947a8c31..349609b637f8e9048d6f442b7a0ec11cda77bb83 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4771,3 +4771,5 @@ dataset/kitchen_supplies/ware/9dcbd4b5514c5fa89310c8e05e953554/mug_039.usd filte
 dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/a3f1c8ff85a85913a0310be99c938dc1.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mesh/black_jar.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/mesh/black_jar_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mesh/mug_020.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mug_020.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mesh/material.mtl b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..87f089ce206219b6c1634e5f8a4b006ad98e657e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mug_020_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_020_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mesh/material_0.png b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd902ba566b47835b0f1c98580cf217db908e918
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb97bd647cffb50dd08fd1c8469923876369a08745a33d2f9acdc0fa524951d8
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diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mesh/mug_020.glb b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mesh/mug_020.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f48270cd9da250e64dd630f8bea013f5ad0700f0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mesh/mug_020.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:175a76354e614f3f187cfc6c0852392f0abe56fa7c5002055b1e3be7d90b70e0
+size 12101588
diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mesh/mug_020.mtl b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mesh/mug_020.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8a1bd02f61ae8ec8c7dd2dc93464c3246f285ead
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mesh/mug_020.mtl
@@ -0,0 +1,6 @@
+newmtl mug_020_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/a381e8310b1b59f8b85223be3f1f0bda/mesh/mug_020.obj b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mesh/mug_020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e6b41d2d5e8ec49aeea0cdcd79cdd257fc30921
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mesh/mug_020.obj
@@ -0,0 +1,105416 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mug_020_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mesh/mug_020_collision.obj b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mesh/mug_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f4a7637d73054a464ef05964de267f3c9ed03b7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mesh/mug_020_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mesh/mug_020_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mesh/mug_020_geometry_Looks_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/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:fb97bd647cffb50dd08fd1c8469923876369a08745a33d2f9acdc0fa524951d8
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diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020.obj b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020.obj
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diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision.obj b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a81cb4d47ad8837f86f402a1c1aa0b53bf92d052
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision.obj
@@ -0,0 +1,21732 @@
+# https://github.com/mikedh/trimesh
+
+o mug_020_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_0.obj b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2a1de7537b7fd173ef8122a270adb4511e49ede
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_0.obj
@@ -0,0 +1,661 @@
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diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_1.obj b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e9fe306f108477a9795e2c08a2e0fe54af634e9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_1.obj
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+
diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_10.obj b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27b67819f464b9e7bcebba6d849a3ad7b2d5887b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_10.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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+v -0.01497309 0.01971595 -0.01917700
+v -0.01497309 0.02940942 -0.02386632
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+
diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_11.obj b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1e23ad732426b529eeb7472411a2814ff35c2d8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_11.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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+v -0.02999016 -0.01308102 -0.02330762
+v -0.02080490 -0.01308104 -0.01918018
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+
diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_12.obj b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18ea3f08b6345cab65068bc03ef8b6d3edbef967
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_12.obj
@@ -0,0 +1,469 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_13.obj b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a5dbeffe3da999d65d205718bae03d5b3a2e8d2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_13.obj
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diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_14.obj b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51344973984608b8129319c8fb6efa3f0c4f5742
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_14.obj
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diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_15.obj b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45283e2c4defb3da5c3cdd9d308c0c0d8f0f2818
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_15.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.00667527 0.02774987 0.02025756
+v 0.00667527 0.02774987 0.02034771
+v 0.00000719 0.02852528 0.02034771
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+v 0.00667527 0.02788010 0.02605968
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+v 0.00000719 0.03775281 -0.00071153
+v 0.00309777 0.03751073 -0.00071153
+v 0.00429680 0.04030262 0.01897026
+v 0.00533461 0.04030261 0.02049561
+v 0.00578106 0.04030261 0.02140073
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+v 0.00667527 0.02788379 0.02614983
+v 0.00000719 0.02875382 0.02808268
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+v 0.00000719 0.04030262 0.01795335
+v 0.00096798 0.03775159 -0.00071153
+v 0.00411991 0.04030262 0.01888010
+v 0.00595925 0.04030260 0.02574961
+v 0.00667527 0.03628299 0.03388482
+v 0.00667527 0.03669957 0.03195198
+v 0.00667527 0.03778098 0.02682060
+v 0.00667527 0.03787560 0.02618593
+v 0.00667527 0.02797472 0.02799252
+v 0.00667527 0.02797964 0.02808267
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+
diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_16.obj b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b38d4954ddcd2827446aa60c7c794a568a723a5f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_16.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.00871103 0.02319856 -0.01917698
+v -0.00871103 0.03423104 -0.01917694
+v 0.00000719 0.02475903 -0.01917698
+v 0.00000719 0.02868862 -0.00001672
+v -0.00871103 0.02732281 -0.00001673
+v -0.00869397 0.03423420 -0.01917694
+v -0.00871103 0.03465835 -0.01818292
+v -0.00483153 0.03936506 -0.01263514
+v -0.00444409 0.03936506 -0.01309652
+v -0.00394997 0.03936506 -0.01355977
+v -0.00296602 0.03936506 -0.01397988
+v 0.00000719 0.03523759 -0.01917694
+v 0.00000719 0.03755448 -0.00001669
+v -0.00871103 0.03623299 -0.00001670
+v -0.00676275 0.03457289 -0.01917694
+v -0.00871103 0.03477863 -0.01790159
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+
diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_17.obj b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c22e7b653b4f002c50b4442f1140022f87d09949
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_17.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.00096848 -0.03938003 -0.01426301
+v 0.00297611 -0.03938003 -0.01400225
+v 0.00000719 -0.03938003 -0.01426113
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diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_18.obj b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d88b470d9ef04f0fe650d74652399950c188ed55
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_18.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_19.obj b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9f1448e5614fa365e612df53ce3bc412df71abd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_19.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_2.obj b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e712c5069022967fe554abaa3f2f7d8f3adc1ba
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_2.obj
@@ -0,0 +1,490 @@
+# https://github.com/mikedh/trimesh
+v -0.03487957 0.00095806 -0.01917707
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diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_20.obj b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa1efcbf37a36f060d3abc8bd01872aa7346bef0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_20.obj
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diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_21.obj b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1676d4a6b88ef2800fac8d0ca701d40af765c5e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_21.obj
@@ -0,0 +1,139 @@
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diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_22.obj b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3a10a758c0938edfb2d55aa180dac34767b36cd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_22.obj
@@ -0,0 +1,361 @@
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diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_23.obj b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ba82dfffd7616e355042230c4b11bd970571ca4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_23.obj
@@ -0,0 +1,280 @@
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diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_24.obj b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffd468d6486d81e3687b09492615456306355853
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_24.obj
@@ -0,0 +1,532 @@
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diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_25.obj b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0233fa1913c111d027b1683cc5b322bd323fda9e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_25.obj
@@ -0,0 +1,451 @@
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diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_26.obj b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c01618b870aa25c4c4194bbe7f9c87b0281fa68f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_26.obj
@@ -0,0 +1,541 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_27.obj b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8d3671dcdd6e1bac269f4b2e24d694979b76ac2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_27.obj
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diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_28.obj b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f24fc8254a07511b46784a8844add19add4d75f6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_28.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_29.obj b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4aad7390b69d3ff0bc950c1e4934afe67e6c82ef
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_29.obj
@@ -0,0 +1,466 @@
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diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_3.obj b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..169d964edaee597bd65392516073491caccf870b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_3.obj
@@ -0,0 +1,409 @@
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diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_30.obj b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9090c856fcb7ef3d1a7c3c3c61e2e27133bd8d3f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_30.obj
@@ -0,0 +1,664 @@
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diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_31.obj b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..510a9087549b4eae4af502371f950b83993b62b9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_31.obj
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diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_32.obj b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca371fd2ec0d11aa74c9b5b3b3c95ca53a3c929d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_32.obj
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diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_33.obj b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fa75cda59d2fcf00f5d0aaaefbf61e68a6acb40
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_33.obj
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diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_34.obj b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..387a899ab24af9f41fb11b18b0f8f12ac15de148
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_34.obj
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diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_35.obj b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..595f8fd5b6a1654834c3c986fb7ac5b6c44a43bb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_35.obj
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diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_36.obj b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cc04d9b173e8903fec02fdb22930ced091ffb6e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_36.obj
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diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_37.obj b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0746631dfb91f1ba9f64a5320a2a765d85e12fb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_37.obj
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diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_38.obj b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cb98c14d9fe2de201957abd47c94c20e38681eb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_38.obj
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diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_39.obj b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0debac4a29b28696c598d49c832ee99f53b5708
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_39.obj
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diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_4.obj b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ce8a29034598727cdb5cfe5060853502ec30b19
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_4.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_40.obj b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96713bb212ad0250e13f6d140a4404dede85797c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_40.obj
@@ -0,0 +1,253 @@
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diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_41.obj b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1008637205d1b15c2d3a128e4dd2fee2b8f27a6b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_41.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_42.obj b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3189cb06fe26d60ab8462bac3d11ad9438406d0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_42.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
+v 0.00000719 0.05880304 0.01498146
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+
diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_43.obj b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83c0d0661fc70f0daf60090ff2f44ab36a748a18
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_43.obj
@@ -0,0 +1,430 @@
+# https://github.com/mikedh/trimesh
+v 0.00000657 0.03936490 0.02995398
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diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_44.obj b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9352b5deb28793ad50cce5e7684c147b717d818
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_44.obj
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+
diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_45.obj b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f6c3dc665757bac5bb269842f9cefada3fcd2eb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_45.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v 0.00096834 -0.04628534 0.01566416
+v 0.00000719 -0.04628666 0.01566416
+v 0.00177794 -0.04640087 0.01566416
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+v 0.00355813 -0.04707957 0.01566416
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+
diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_5.obj b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10807d63234d4c6cfab79c1e389a6fad75c25318
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_5.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.02007239 -0.00001468 -0.02330757
+v -0.01562278 -0.01308102 -0.02330762
+v -0.03301038 -0.00001468 -0.02330757
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+
diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_6.obj b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85baf76ed38c50f17e2674e0ea13bde176d3c692
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_6.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v 0.00000719 0.03523538 -0.01918533
+v 0.00096925 0.03523322 -0.01918533
+v 0.00096925 0.03481295 -0.02028452
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diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_7.obj b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d03844cdaa621bc9fc0ae93e91e15df4ae84570
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_8.obj b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37590b67df7f86ffba555ffef0a6b614e3642cf6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_8.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.00000719 -0.03521117 -0.01918401
+v 0.00000719 -0.03480608 -0.02025897
+v 0.00096797 -0.03521117 -0.01918401
+v 0.00000719 -0.02478507 -0.01918397
+v 0.00000719 -0.03401326 -0.02219227
+v 0.00096797 -0.03401519 -0.02219227
+v 0.00096797 -0.03480608 -0.02025897
+v 0.00107356 -0.03520731 -0.01918401
+v 0.01332509 -0.02086733 -0.01918396
+v 0.01332509 -0.01550670 -0.02331202
+v 0.00000719 -0.02039085 -0.02331203
+v 0.00000719 -0.03345964 -0.02331208
+v 0.00096797 -0.03346350 -0.02331208
+v 0.00442781 -0.03492760 -0.01918401
+v 0.00290125 -0.03513593 -0.01918401
+v 0.00285693 -0.03513979 -0.01918401
+v 0.00949893 -0.03323203 -0.02116863
+v 0.01332509 -0.03273822 -0.01918400
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+v 0.00879237 -0.03287710 -0.02206820
+v 0.00873110 -0.03219809 -0.02331208
+v 0.00865549 -0.03423703 -0.01918401
+v 0.01063049 -0.03179301 -0.02331208
+v 0.01063049 -0.03241029 -0.02219227
+v 0.01063049 -0.03306228 -0.02075320
+v 0.01063049 -0.03370464 -0.01918400
+v 0.00987699 -0.03390911 -0.01918400
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+v 0.01166166 -0.03140914 -0.02331208
+v 0.01179984 -0.03332270 -0.01918400
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+v 0.01173075 -0.03137828 -0.02331208
+v 0.01332509 -0.03095777 -0.02256486
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+
diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_9.obj b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..769b43dda4e975679862522f1e7f8a8042bd5048
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mesh/mug_020_collision_9.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.03244342 0.01310449 -0.01918541
+v 0.03252023 0.01294717 -0.01918541
+v 0.03175789 0.01091472 -0.02237582
+v 0.03123365 0.01268497 -0.02171738
+v 0.03191534 0.01310449 -0.02012010
+v 0.02086812 0.01310449 -0.01918541
+v 0.03279674 0.01225263 -0.01918541
+v 0.03265657 0.01072925 -0.02076442
+v 0.03137383 0.01048112 -0.02342891
+v 0.03283899 0.00969064 -0.02117942
+v 0.03112228 0.01096717 -0.02342891
+v 0.03091297 0.01168985 -0.02314310
+v 0.03094754 0.01310450 -0.02181458
+v 0.01527826 0.01310451 -0.02342890
+v 0.02447820 0.00003741 -0.01918546
+v 0.03292540 0.01191367 -0.01918542
+v 0.03149289 0.01015879 -0.02342891
+v 0.03301757 0.00838726 -0.02155372
+v 0.03258359 0.00893342 -0.02219596
+v 0.03330945 0.01072924 -0.01918542
+v 0.03385864 0.00877097 -0.01918543
+v 0.03057117 0.01197509 -0.02342891
+v 0.02993940 0.01310451 -0.02342890
+v 0.01989455 0.00004382 -0.02342895
+v 0.03488982 0.00003741 -0.01918546
+v 0.02040150 0.00003743 -0.02316267
+v 0.03189230 0.00874413 -0.02342892
+v 0.03311935 0.00681910 -0.02175852
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+v 0.03413900 0.00747270 -0.01918543
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+v 0.03455185 0.00486594 -0.01918544
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+v 0.03489558 0.00095579 -0.01918546
+v 0.03480341 0.00206731 -0.01933126
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+v 0.03296188 0.00095581 -0.02342895
+v 0.03485525 0.00218754 -0.01918545
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+
diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mug_020.xml b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mug_020.xml
new file mode 100644
index 0000000000000000000000000000000000000000..aae00d7d7fa4cac7a813150dbed22bf0f173bf3d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mjcf/mug_020.xml
@@ -0,0 +1,106 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mug_020">
+  <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_020.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/mug_020_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mug_020_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/mug_020_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/mug_020_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/mug_020_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/mug_020_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/mug_020_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/mug_020_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/mug_020_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/mug_020_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/mug_020_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/mug_020_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/mug_020_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/mug_020_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/mug_020_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/mug_020_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/mug_020_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/mug_020_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/mug_020_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/mug_020_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/mug_020_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/mug_020_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/mug_020_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/mug_020_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/mug_020_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/mug_020_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/mug_020_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/mug_020_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/mug_020_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/mug_020_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/mug_020_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/mug_020_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/mug_020_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/mug_020_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/mug_020_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/mug_020_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/mug_020_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/mug_020_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/mug_020_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/mug_020_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/mug_020_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/mug_020_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/mug_020_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/mug_020_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/mug_020_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/mug_020_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mug_020">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mug_020.urdf b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mug_020.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..20b2d28f42adc9e1295666528310688c33c62e59
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mug_020.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mug_020">
+   <link name="mug_020">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mug_020.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_020_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.55</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>a381e8310b1b59f8b85223be3f1f0bda</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>mug</category>
+         <name>green cartoon mug</name>
+         <color>green,yellow</color>
+         <shape>cylinder</shape>
+         <material>ceramic</material>
+         <description>light green double-handled mug with cartoon face and textured lower body</description>
+         <min_height>0.0681</min_height>
+         <max_height>0.0681</max_height>
+         <real_height>0.0681</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518192304</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.036554 -0.059401 -0.032025</min>
+            <max>0.036557 0.059357 0.036076</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mug_020.usd b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mug_020.usd
new file mode 100644
index 0000000000000000000000000000000000000000..ffbe84cc36f7122d62ed1d2d69b047605b89b453
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/mug_020.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a00ef5618ec57a7ed0ec0170d2afc341422559c482c5e83f8e0bbabb39f6ff3
+size 4895086
diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/textures/material_0.png b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd902ba566b47835b0f1c98580cf217db908e918
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb97bd647cffb50dd08fd1c8469923876369a08745a33d2f9acdc0fa524951d8
+size 8795214
diff --git a/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/video.mp4 b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..367ec5b99f5f7763a0f4fa01d2b1da569449a0ff
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/a381e8310b1b59f8b85223be3f1f0bda/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0f7d0b325adb0606c4332830a9af0de4ac305fa1c0d5ca53a351d502f515d5c
+size 174004