diff --git a/.gitattributes b/.gitattributes
index dd17afbd86769dd644ca555094a98dee300b17ef..51169b9b0376701a076bb290de6d4b4c14b40341 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4749,3 +4749,5 @@ dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/coffee_cup_003.us
 dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mesh/coffee_cup_003.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mesh/coffee_cup_003.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mesh/mug_002.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mug_002.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mesh/material.mtl b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..659339d5cf2bd05ea91d6ad2d52d99b4a2375a9b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mug_002_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_002_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mesh/material_0.png b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cad9dbf1c157a3dedfafeb95c3bb21de66603437
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:527eea87cbb90f53cacd06b5b5671cd71f79153d4b8f5de2e609523f7e337c90
+size 7579998
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mesh/mug_002.glb b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mesh/mug_002.glb
new file mode 100644
index 0000000000000000000000000000000000000000..11d58040d2f7164c432fe6319d8e3d23bee3176f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mesh/mug_002.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13b07ff929a97fce8b806420fd1a1d320b9428d3875f16f514755de6308c5a0f
+size 11052072
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mesh/mug_002.mtl b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mesh/mug_002.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1a3b12224a70562a5daf49d11ac7bcaf0f39b70f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mesh/mug_002.mtl
@@ -0,0 +1,6 @@
+newmtl mug_002_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/7b3e22f9c63c5fb695f4442cdc1f37ef/mesh/mug_002.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mesh/mug_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acd1ba4dc507748668ef004b81b400acf09299a0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mesh/mug_002.obj
@@ -0,0 +1,104736 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mug_002_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mesh/mug_002_collision.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mesh/mug_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..058d9b92050947b2d4fd3744885e27364a12bf60
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mesh/mug_002_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mesh/mug_002_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mesh/mug_002_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cad9dbf1c157a3dedfafeb95c3bb21de66603437
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mesh/mug_002_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/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cad9dbf1c157a3dedfafeb95c3bb21de66603437
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+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..296cf0b02a1fb9354a7a071cf9d77993f2edb175
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision.obj
@@ -0,0 +1,20540 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_0.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5d548fae27e6c5a6908254fae44ed062f553e47
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_1.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..315af866141df3ba89145330310299c9339405ef
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_1.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_10.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44914f87ffe061065eebdc9f6e9d1f36d04c7fe1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_10.obj
@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_11.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39f1220fa5864af72db8d50e3206e83c7108d938
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_11.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_12.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3783555a4d04c912baad75cbbb3cba6e0025c717
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_12.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_13.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e81cb5f151bb6b557abf463a48bc1c1f9e36fac4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_13.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_14.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2110f34360fc497e208acc196294b7abda658338
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_14.obj
@@ -0,0 +1,439 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_15.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..757f1ae5a3028a46139f27b11cbf02a394edd3d0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_15.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_16.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92fca493af8f706f5b844513083916b390cd44a8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_16.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
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+f 12 15 13
+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_17.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e18f09831391f0c111e437f864830bb87517a141
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_17.obj
@@ -0,0 +1,694 @@
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+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_18.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..695347daecf2ed3cce8cb7417ff7816a1ccead00
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_18.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v -0.00002265 0.02397110 -0.01255504
+v 0.01530334 0.01536006 -0.01255507
+v -0.00002265 0.02404250 -0.01222610
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+v -0.00002265 0.02530684 -0.00752554
+v -0.00002265 0.02479648 -0.00922032
+v -0.00002265 0.02434704 -0.01091867
+v 0.01530334 0.02324651 -0.01255504
+v 0.01530334 0.02136044 -0.00037938
+v -0.00002265 0.02754779 -0.00037936
+v -0.00002265 0.03619874 -0.00209794
+v 0.00037190 0.03051759 -0.01255502
+v 0.01287603 0.02989592 -0.01255502
+v 0.01530334 0.03088512 -0.00688313
+v 0.01530334 0.03121903 -0.00037935
+v -0.00002265 0.03674690 -0.00037933
+v -0.00002265 0.03679730 -0.00082983
+v 0.00212713 0.03591520 -0.00344470
+v 0.00131103 0.03072552 -0.01255502
+v 0.01287152 0.02990642 -0.01255502
+v 0.01530334 0.03171471 -0.00611082
+v 0.01530334 0.03151516 -0.00064392
+v 0.00305875 0.03607481 -0.00037933
+v 0.00127052 0.03660408 -0.00037933
+v -0.00002265 0.03681620 -0.00074759
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+v 0.00330778 0.03599291 -0.00364493
+v 0.00918555 0.03243721 -0.01181847
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+v 0.01530334 0.03178191 -0.00604765
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+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_19.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ed7d1ec351bffb2f74e989d91b9de51e69831e7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_19.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.00002265 0.01634653 -0.03257695
+v 0.00916655 0.01029302 -0.03257697
+v -0.00002265 0.02112221 -0.02962472
+v -0.00002265 0.02889339 -0.03257690
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+v 0.01034476 0.00958965 -0.03257697
+v -0.00002265 0.02858436 -0.02964523
+v 0.01034476 0.02763263 -0.02962470
+v -0.00002265 0.02867536 -0.03002555
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+f 1 2 3
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+f 19 22 21
+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_2.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78d9f407f605b2911e97fbe866086331bad7879f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_2.obj
@@ -0,0 +1,1828 @@
+# https://github.com/mikedh/trimesh
+v -0.03145596 -0.00061241 -0.03205000
+v -0.03118520 -0.00061241 -0.03294587
+v -0.03145289 -0.00230533 -0.03205001
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diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_20.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b526bcc4cbcf40b9a12870660a1445f4dd5f2b6b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_20.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_21.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fee09f3e200f6de6d08e31c94695785af26a1b3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_21.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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+v -0.01080386 -0.02416264 0.02466999
+v -0.00593940 -0.02569914 0.02297559
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+f 1 43 48
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+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_22.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3636fdaaafc13060438926776ac097d9b0c8dcac
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_22.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.02185713 0.00004655 -0.03204921
+v -0.01649608 -0.01263159 -0.03204926
+v -0.03124262 0.00004655 -0.03204921
+v -0.02419254 0.00004653 -0.02739220
+v -0.01912220 -0.01340309 -0.02739225
+v -0.01621674 -0.01340307 -0.03204926
+v -0.03145537 -0.00061697 -0.03204921
+v -0.03162428 0.00004654 -0.03096006
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+v -0.02379627 -0.01340309 -0.02739225
+v -0.02525468 -0.01340307 -0.03204926
+v -0.03145375 -0.00231134 -0.03204922
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+v -0.03180780 -0.00231135 -0.03099472
+v -0.03224792 -0.00231135 -0.02955590
+v -0.03153820 -0.00061697 -0.03177293
+v -0.03273189 -0.00058408 -0.02739220
+v -0.03168761 0.00004654 -0.03072300
+v -0.03206115 -0.00358708 -0.02739221
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+v -0.02995311 -0.00660190 -0.03204923
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+v -0.03280660 -0.00178080 -0.02739221
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+v -0.03115817 -0.00400044 -0.03204922
+v -0.03091781 -0.00478246 -0.03204923
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+f 1 22 12
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+f 1 7 3
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+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_23.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad46cf40bc13bcae818c819e63febb4c58c49474
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_23.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.01214575 0.02499285 -0.00241605
+v -0.01214575 0.03129851 -0.00241603
+v -0.00002265 0.02704827 -0.00241604
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+v -0.01214575 0.02519635 0.01532081
+v -0.00002265 0.03615823 -0.00215385
+v -0.00002265 0.03585596 -0.00241601
+v -0.01214575 0.03636548 0.00288109
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+v -0.01214575 0.03167844 0.01532084
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+v -0.00861538 0.03739934 0.00630312
+v -0.00731953 0.03753259 0.00540551
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+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_24.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2eccaee8d0dadadf386254b39da0a3628c569496
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_24.obj
@@ -0,0 +1,490 @@
+# https://github.com/mikedh/trimesh
+v -0.03578507 0.00004637 0.01518967
+v -0.03683015 0.00254974 0.01518968
+v -0.03169662 0.00004637 0.01518967
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+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_25.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d5d603a55d5c6934a36a0e735f68610b09390c4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_25.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.02708538 0.00555533 -0.02936373
+v 0.02717444 0.00551077 -0.02936373
+v 0.02702766 0.00555533 -0.02955566
+v 0.01770177 0.00555533 -0.02936373
+v 0.02779287 0.00519231 -0.02936373
+v 0.02776813 0.00517527 -0.02955566
+v 0.02646366 0.00555533 -0.03124985
+v 0.01452058 0.00555534 -0.03236617
+v 0.01649955 -0.00783062 -0.02936378
+v 0.02915176 0.00412945 -0.02936373
+v 0.02741686 0.00488433 -0.03124985
+v 0.02603158 0.00555534 -0.03236617
+v 0.02892418 0.00426182 -0.02951510
+v 0.01334804 -0.00783061 -0.03236622
+v 0.02396851 -0.00783062 -0.02936378
+v 0.02993510 0.00277041 -0.02936374
+v 0.02810950 0.00375726 -0.03225243
+v 0.02837831 0.00403771 -0.03124986
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+v 0.02444676 -0.00783061 -0.03236622
+v 0.02402953 -0.00783062 -0.02959715
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+v 0.02807817 -0.00322665 -0.03236620
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+v 0.02855477 -0.00061735 -0.03236619
+v 0.02854323 0.00107719 -0.03236619
+v 0.02835357 0.00260529 -0.03236618
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+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_26.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..daaa6e29c2dff663ce5625b5443e9495dfe392c6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_26.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v -0.00862391 -0.02537026 -0.03204930
+v -0.00002265 -0.02706559 -0.03204931
+v -0.00002265 -0.02640094 -0.02739230
+v -0.00862391 -0.02388639 -0.02739411
+v -0.00862391 -0.01740656 -0.03204927
+v -0.00002265 -0.01827888 -0.03204928
+v -0.00861550 -0.02388544 -0.02739229
+v -0.00002265 -0.02061045 -0.02739228
+v -0.00862391 -0.02381622 -0.02739229
+v -0.00862391 -0.01738001 -0.03204699
+v -0.00861550 -0.01738001 -0.03204927
+v -0.00862391 -0.01974857 -0.02739227
+f 1 2 3
+f 1 3 4
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+f 1 10 5
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+f 1 6 2
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+f 3 8 12
+f 3 12 9
+f 3 9 7
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+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_27.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d55f18824d24f9bf7951b1276fc7685cf8ff6114
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_27.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
+v 0.01404718 -0.02381404 0.04024123
+v -0.00002265 -0.02933326 0.04024121
+v -0.00002265 -0.02941013 0.04025120
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+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_28.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcc4a5d875ff86f5c2366cfac01a0d67a8a8d833
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_28.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.02751196 0.01317369 -0.00241610
+v -0.02980592 0.01317366 0.00663523
+v -0.03272041 0.00004641 0.00663518
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+v -0.03673665 0.01317369 -0.00241610
+v -0.03827803 0.01317366 0.00663523
+v -0.03820747 0.00004641 0.00663518
+v -0.04591250 0.00004644 -0.00241615
+v -0.04264343 0.00911705 -0.00241612
+v -0.04088677 0.01317368 -0.00034464
+v -0.04015951 0.01317366 0.00520612
+v -0.04058646 0.00747354 0.00663521
+v -0.04003287 0.00302626 0.00663519
+v -0.04526122 0.00004643 -0.00085059
+v -0.04574425 0.00004644 -0.00187480
+v -0.04591431 0.00006572 -0.00241615
+v -0.04322415 0.00868786 -0.00241612
+v -0.04215135 0.01248623 -0.00017630
+v -0.04114367 0.01317368 -0.00021174
+v -0.04089039 0.01317366 0.00464262
+v -0.04111110 0.00615901 0.00663520
+v -0.04026987 0.00342331 0.00663519
+v -0.04086687 0.00446671 0.00663520
+v -0.04520152 0.00216278 0.00004339
+v -0.04547831 0.00004643 -0.00118195
+v -0.04554887 0.00107827 -0.00099235
+v -0.04599392 0.00110141 -0.00241615
+v -0.04375604 0.00901682 -0.00185262
+v -0.04409796 0.00783721 -0.00241612
+v -0.04364749 0.01060246 -0.00014264
+v -0.04231779 0.01317368 0.00099498
+v -0.04215135 0.01317368 0.00074513
+v -0.04187998 0.01317367 0.00377258
+v -0.04201747 0.01293338 0.00369550
+v -0.04193968 0.00730906 0.00532305
+v -0.04201928 0.00615901 0.00544619
+v -0.04197225 0.00503338 0.00539480
+v -0.04396047 0.00446544 0.00239571
+v -0.04527569 0.00329227 0.00016831
+v -0.04551812 0.00274487 -0.00061136
+v -0.04592336 0.00279756 -0.00241614
+v -0.04551088 0.00446545 -0.00074691
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+v -0.04366377 0.01067827 0.00094713
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+v -0.04471125 0.00785134 -0.00074690
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+v -0.04525398 0.00541504 0.00013908
+v -0.04406720 0.00954493 0.00094713
+v -0.04359322 0.01056262 0.00192261
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+v -0.04231598 0.01317367 0.00286886
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+v -0.04372890 0.00954492 0.00216626
+v -0.04390257 0.00785133 0.00243648
+v -0.04488312 0.00605110 0.00080181
+v -0.04452853 0.00785134 0.00094712
+f 1 2 3
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+f 1 16 27
+f 1 27 41
+f 1 41 56
+f 1 56 46
+f 1 46 43
+f 1 43 29
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+f 1 17 9
+f 1 9 5
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+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_29.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7430fbedde0dfbca4e24ca6872e2a290d4a791f3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_29.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.02522849 -0.01815166 -0.00192838
+v -0.02522849 -0.02373139 -0.00192840
+v -0.02522849 -0.01827131 0.00607406
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+v -0.02522849 -0.02873621 0.00500948
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+v -0.02522849 -0.02900889 0.00607402
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+v -0.01080434 -0.02419960 0.00094248
+v -0.01080434 -0.02375970 -0.00069075
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+v -0.01080434 -0.02349730 -0.00180463
+v -0.01080434 -0.02347028 -0.00192840
+v -0.02522849 -0.02875807 0.00504238
+v -0.02132172 -0.03032472 0.00607402
+v -0.01080434 -0.03129198 0.00607402
+v -0.02522849 -0.02901146 0.00604268
+v -0.02520449 -0.02902047 0.00607402
+v -0.02463831 -0.02928415 0.00607402
+v -0.02224229 -0.03010220 0.00607402
+v -0.02390411 -0.02961342 0.00607402
+f 1 2 5
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+f 1 7 3
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+f 1 13 6
+f 1 6 2
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+f 7 17 18
+f 14 19 17
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+f 14 21 19
+f 17 19 18
+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_3.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbc0289c10d678e3fd11430eb71db09a14c77ba0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_3.obj
@@ -0,0 +1,601 @@
+# https://github.com/mikedh/trimesh
+v 0.03034088 -0.00458942 -0.02557809
+v 0.03034088 -0.00496376 -0.02471092
+v 0.03034088 0.00461278 -0.02557805
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diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_30.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a2807242387f83e0fa5417c81e89a4fa7eee5b7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_30.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+v -0.02577036 0.01059099 -0.01090560
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+v -0.02790457 0.01059097 -0.00515849
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+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_31.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1382ce5e41d8d06c883cbc3b4a68dff92ec6250
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_31.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.02187576 0.01929578 0.01532079
+v -0.02187576 0.02361400 0.01532081
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+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_32.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fa7e4cbb3caa21aa48f696fd79f0aa9789973ef
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_32.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v -0.01080386 -0.02520488 0.00413137
+v -0.00593940 -0.02658751 0.00413136
+v -0.01080386 -0.02472783 0.00264608
+v -0.01080386 -0.02940204 0.00413135
+v -0.00593940 -0.02579920 0.00092887
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diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_33.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd9a67cafb60dea706aab6172bd4f806921e3ce8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_33.obj
@@ -0,0 +1,454 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_34.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ab6c22e096b8ee48c6608a64eef0b8a4531a79f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_34.obj
@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_35.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8c4b75dc99d83eab8c7c2044dac84695a501750
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_35.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.01621712 -0.01340307 -0.03204926
+v -0.01559195 -0.01353950 -0.03204926
+v -0.02525440 -0.01340307 -0.03204926
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+v -0.00862392 -0.01738052 -0.03204699
+v -0.00862392 -0.01740633 -0.03204927
+v -0.02399592 -0.01750343 -0.03204927
+v -0.02315585 -0.02020137 -0.03125008
+v -0.02219530 -0.02263505 -0.02739228
+v -0.02379404 -0.01340309 -0.02739225
+v -0.00862392 -0.01974784 -0.02739227
+v -0.00862392 -0.02536983 -0.03204930
+v -0.02315910 -0.02019030 -0.03204928
+v -0.02169061 -0.02386541 -0.02739229
+v -0.00862392 -0.02381624 -0.02739229
+v -0.01032034 -0.02554069 -0.03204930
+v -0.00862392 -0.02388630 -0.02739411
+v -0.01543077 -0.02565010 -0.02739229
+v -0.01713208 -0.02595984 -0.02739230
+v -0.02303049 -0.02037959 -0.03204928
+v -0.02164014 -0.02376953 -0.02786140
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+v -0.01197443 -0.02558371 -0.03204930
+v -0.01713208 -0.02587626 -0.02786141
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+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_36.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1328b4e4345e45c70ce34564f202e718b55c5d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_36.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.03280720 -0.00178089 -0.02739055
+v -0.03273245 -0.00058368 -0.02739054
+v -0.03278167 -0.00231728 -0.02739055
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+v -0.02702408 0.00004649 -0.01609037
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+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_37.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ed5a23b65bfdd47537ee20f8dab00a5cb33949e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_37.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.03272466 0.00555523 -0.00195396
+v 0.03274077 0.00553819 -0.00195396
+v 0.02898347 0.00357109 -0.01159773
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+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_38.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fadf15621b20f98f89854d942d381e8fe1152f2d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_38.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_39.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba86952f7b035cd87d78d415ffcf2698e5f4cfce
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_39.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.03831609 0.01801527 0.00740067
+v -0.03828229 0.01735957 0.00740066
+v -0.03534830 0.01806013 0.01518728
+v -0.03521150 0.01923206 0.01518728
+v -0.03811008 0.01939241 0.00740067
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+v -0.03491858 0.01964889 0.01518728
+v -0.03622061 0.02136272 0.00944433
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+v -0.02967345 0.01317365 0.00740065
+v -0.03452749 0.02007213 0.01518728
+v -0.03509240 0.02233584 0.01041166
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+v -0.03075981 0.02738909 0.00740070
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+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_4.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61bcfd2cf7eaaf696852983c6d1ab8c37bb48677
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_4.obj
@@ -0,0 +1,1003 @@
+# https://github.com/mikedh/trimesh
+v -0.00001985 0.00555909 -0.04016464
+v -0.00001705 0.00100121 -0.04016619
+v -0.00001705 -0.00783058 -0.04016087
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+v -0.00001985 0.01970721 -0.04016459
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+v -0.00001705 -0.00783061 -0.03261284
+v -0.00001985 0.01634269 -0.03257763
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+v 0.00331153 0.00108029 -0.04016543
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+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_40.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef30c7bd52df68227fbc8f1dfbc736ba28c77895
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_40.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v -0.01884941 0.00833596 -0.03243002
+v -0.01884941 0.00832947 -0.03243097
+v -0.01885997 0.00833596 -0.03243097
+v -0.02261101 0.00833594 -0.02755215
+v -0.02067609 0.00004656 -0.03243100
+v -0.02417900 0.00004654 -0.02755218
+v -0.02824680 0.00833596 -0.03243097
+v -0.02947163 0.00833594 -0.02755215
+v -0.03116369 0.00004656 -0.03243100
+v -0.03233044 0.00004654 -0.02755218
+v -0.02843686 0.00784830 -0.03243097
+v -0.03102906 0.00104054 -0.03243100
+v -0.03165863 0.00030457 -0.03064443
+v -0.03162432 0.00004655 -0.03096010
+v -0.03168767 0.00004655 -0.03072322
+f 1 2 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 2
+f 2 5 9
+f 2 9 12
+f 2 12 11
+f 2 11 7
+f 2 7 3
+f 2 4 6
+f 2 6 5
+f 4 8 10
+f 4 10 6
+f 5 6 10
+f 5 10 15
+f 5 15 14
+f 5 14 9
+f 7 11 8
+f 8 11 12
+f 8 12 13
+f 8 13 10
+f 9 14 12
+f 10 13 15
+f 12 14 13
+f 13 14 15
+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_41.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9120fec0e06a698b2a203c25bd8b194b1feec1c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_41.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v -0.00002265 0.03031086 -0.00918359
+v -0.00002395 0.03049884 -0.00918359
+v -0.00002265 0.02480607 -0.00918361
+v -0.00002265 0.03048524 -0.00924293
+v -0.01338586 0.02994725 -0.00918359
+v -0.00002265 0.03059657 -0.01482216
+v -0.00081664 0.03075983 -0.01647812
+v -0.00350734 0.03097998 -0.01938731
+v -0.00521044 0.03110490 -0.02108103
+v -0.01338586 0.02202338 -0.00918362
+v -0.00002265 0.02479370 -0.00922137
+v -0.00949567 0.03072892 -0.01832288
+v -0.01338586 0.02997200 -0.00955938
+v -0.00002265 0.03051495 -0.01596209
+v -0.00018877 0.03058668 -0.01594771
+v -0.00081664 0.03075983 -0.01724048
+v -0.00350734 0.03097875 -0.02108103
+v -0.00521044 0.03098246 -0.02277656
+v -0.00691224 0.03101214 -0.02108103
+v -0.01338586 0.02200607 -0.00923756
+v -0.00002265 0.02434725 -0.01092049
+v -0.01338586 0.02162516 -0.01054652
+v -0.01338586 0.02152003 -0.01091511
+v -0.01338586 0.02119106 -0.01207483
+v -0.01338586 0.02012252 -0.01589561
+v -0.01338586 0.01963649 -0.01771879
+v -0.00949567 0.03072892 -0.01864473
+v -0.01338586 0.02995221 -0.01125490
+v -0.00002265 0.03021072 -0.01775291
+v -0.00018877 0.03031832 -0.01776190
+v -0.00104425 0.03069429 -0.01836963
+v -0.00249097 0.03078334 -0.02108103
+v -0.00214302 0.03085012 -0.01938731
+v -0.00264401 0.03072398 -0.02196386
+v -0.00353873 0.03082787 -0.02262732
+v -0.00412736 0.03077717 -0.02402617
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+v -0.00639686 0.03077222 -0.02396324
+v -0.00694363 0.03084889 -0.02278735
+v -0.00789983 0.03076108 -0.02222996
+v -0.00814443 0.03082045 -0.02108103
+v -0.01338586 0.01923454 -0.01938555
+v -0.00002265 0.02241423 -0.01921293
+v -0.01338586 0.02967395 -0.01302594
+v -0.00927068 0.03065966 -0.01977568
+v -0.00002265 0.02808477 -0.02755208
+v -0.00029865 0.02828018 -0.02755208
+v -0.00199914 0.02948354 -0.02755207
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+v -0.00350734 0.03010562 -0.02755207
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+v -0.00959116 0.02912612 -0.02755207
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+v -0.01338586 0.01851107 -0.02412511
+v -0.00002265 0.02147432 -0.02447031
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+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_42.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..390ad2c7b76e00215a2aae41192d453249a26c46
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_42.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.01530466 0.01536015 -0.01255507
+v 0.02063231 0.00555658 -0.01255511
+v 0.02251421 0.00555655 -0.00572139
+v 0.01530466 0.01983369 -0.00572134
+v 0.01530466 0.02324389 -0.01255504
+v 0.02676762 0.00555658 -0.01255511
+v 0.02878546 0.00555655 -0.00572139
+v 0.01530466 0.03198919 -0.00572129
+v 0.01530466 0.03088439 -0.00688456
+v 0.02211170 0.01635629 -0.01255507
+v 0.02297875 0.01471848 -0.01255508
+v 0.02320046 0.02139388 -0.00572133
+v 0.02326117 0.02124381 -0.00572133
+v 0.01597111 0.03144843 -0.00572129
+v 0.01530466 0.03178220 -0.00604772
+v 0.01530466 0.03171493 -0.00611060
+v 0.02215657 0.01629678 -0.01255507
+v 0.01710078 0.03007453 -0.00572130
+v 0.02217505 0.01626573 -0.01255507
+v 0.02209455 0.02312225 -0.00572133
+v 0.01726442 0.02985202 -0.00572130
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 15
+f 1 15 16
+f 1 16 9
+f 1 9 5
+f 1 5 10
+f 1 10 17
+f 1 17 19
+f 1 19 11
+f 1 11 6
+f 1 6 2
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+f 2 7 3
+f 3 7 13
+f 3 13 12
+f 3 12 20
+f 3 20 21
+f 3 21 18
+f 3 18 14
+f 3 14 8
+f 3 8 4
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+f 9 14 10
+f 10 14 18
+f 10 18 17
+f 11 19 12
+f 12 19 17
+f 12 17 20
+f 14 16 15
+f 17 18 21
+f 17 21 20
+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_43.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01cb72bd711c55be2000bb44ddb4947b61f44f03
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_43.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.00002265 0.02925584 -0.02021558
+v 0.00501049 0.02695199 -0.02021559
+v 0.00501740 0.02695199 -0.02021927
+v 0.00501740 0.02697770 -0.02962378
+v -0.00002265 0.02857699 -0.02962378
+v -0.00002265 0.02218456 -0.02021561
+v 0.00501740 0.02369446 -0.02021560
+v 0.00501740 0.01954225 -0.02962381
+v -0.00002265 0.02112443 -0.02962380
+v -0.00002265 0.02199155 -0.02103808
+v 0.00501740 0.02011082 -0.02101322
+v 0.00501740 0.02011937 -0.02097822
+v 0.00501740 0.02030858 -0.02021562
+v 0.00501740 0.01967915 -0.02447256
+v 0.00493255 0.01956698 -0.02962381
+v -0.00002265 0.02147431 -0.02447255
+v -0.00002265 0.02167587 -0.02277788
+v 0.00501740 0.02009846 -0.02106756
+v 0.00501740 0.01981891 -0.02277789
+v -0.00002265 0.02148287 -0.02439611
+v 0.00501740 0.01981986 -0.02277052
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 16
+f 1 16 20
+f 1 20 17
+f 1 17 10
+f 1 10 6
+f 1 6 13
+f 1 13 7
+f 1 7 2
+f 2 7 3
+f 3 7 13
+f 3 13 12
+f 3 12 11
+f 3 11 18
+f 3 18 21
+f 3 21 19
+f 3 19 14
+f 3 14 8
+f 3 8 4
+f 4 8 15
+f 4 15 9
+f 4 9 5
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 8 14 15
+f 9 15 14
+f 9 14 16
+f 10 17 18
+f 10 18 11
+f 14 19 16
+f 16 19 20
+f 17 20 19
+f 17 19 21
+f 17 21 18
+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_44.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84fb9739e4487e4103ddd27ad9a4b7a995ab4eb9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_44.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.02925947 0.01059105 -0.02755214
+v -0.03016205 0.01059104 -0.02586047
+v -0.02917973 0.01123935 -0.02755214
+v -0.02149924 0.01059105 -0.02755214
+v -0.03041485 0.01059104 -0.02447345
+v -0.03014509 0.01066692 -0.02584436
+v -0.02755608 0.01662930 -0.02755212
+v -0.01375429 0.01826544 -0.02755211
+v -0.01371357 0.01826544 -0.02616509
+v -0.01374920 0.01826543 -0.02447049
+v -0.02157389 0.01059105 -0.02616512
+v -0.03104429 0.01059100 -0.01258925
+v -0.02927304 0.01826539 -0.01258922
+v -0.02820758 0.01826541 -0.02017905
+v -0.02812953 0.01826542 -0.02069900
+v -0.02699960 0.01811445 -0.02755211
+v -0.02688763 0.01826544 -0.02755211
+v -0.01393073 0.01826542 -0.02289891
+v -0.02171810 0.01059104 -0.02447052
+v -0.02519103 0.01059100 -0.01258925
+v -0.01779727 0.01826539 -0.01258922
+v -0.02693004 0.01820910 -0.02755211
+v -0.01434470 0.01826542 -0.02108128
+v -0.02236281 0.01059103 -0.02106080
+v -0.02197598 0.01059103 -0.02277298
+v -0.02458365 0.01059100 -0.01427360
+v -0.01486386 0.01826541 -0.01944087
+v -0.01505218 0.01826541 -0.01893117
+v -0.01551366 0.01826541 -0.01772429
+v -0.01624319 0.01826540 -0.01596964
+v -0.01656046 0.01826540 -0.01525343
+v -0.01702023 0.01826539 -0.01425307
+v -0.01778709 0.01826539 -0.01260973
+v -0.02285482 0.01059102 -0.01933691
+v -0.02399663 0.01059101 -0.01595942
+f 1 2 3
+f 1 3 7
+f 1 7 16
+f 1 16 22
+f 1 22 17
+f 1 17 8
+f 1 8 4
+f 1 4 11
+f 1 11 19
+f 1 19 25
+f 1 25 24
+f 1 24 34
+f 1 34 35
+f 1 35 26
+f 1 26 20
+f 1 20 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 6 16 7
+f 8 17 15
+f 8 15 14
+f 8 14 13
+f 8 13 21
+f 8 21 33
+f 8 33 32
+f 8 32 31
+f 8 31 30
+f 8 30 29
+f 8 29 28
+f 8 28 27
+f 8 27 23
+f 8 23 18
+f 8 18 10
+f 8 10 9
+f 10 18 19
+f 10 19 11
+f 12 20 21
+f 12 21 13
+f 15 17 22
+f 15 22 16
+f 18 23 24
+f 18 24 25
+f 18 25 19
+f 20 26 27
+f 20 27 28
+f 20 28 29
+f 20 29 30
+f 20 30 31
+f 20 31 32
+f 20 32 33
+f 20 33 21
+f 23 27 34
+f 23 34 24
+f 26 35 27
+f 27 35 34
+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_45.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f685b54690b9ec118ff1b04c33172b1755c39522
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_45.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.01684403 0.01790223 0.02114585
+v 0.01684403 0.01796117 0.01958682
+v 0.01684498 0.01789688 0.02122218
+v 0.01684403 0.02060199 0.02122219
+v 0.01684403 0.01804330 0.01780905
+v 0.02255672 0.00555871 0.01789184
+v 0.02252814 0.00555871 0.01958677
+v 0.02251195 0.00555870 0.02130217
+v 0.02118499 0.01036720 0.02130219
+v 0.01684403 0.02299463 0.02122219
+v 0.01684403 0.01813616 0.01621557
+v 0.02260530 0.00555872 0.01619970
+v 0.02647378 0.00555870 0.02130217
+v 0.02124786 0.01036898 0.02130219
+v 0.02034290 0.02210543 0.02122219
+v 0.02336452 0.02241615 0.01179443
+v 0.02206995 0.02272505 0.01179443
+v 0.01684403 0.02379817 0.01179444
+v 0.02448667 0.01036898 0.02130219
+v 0.01684403 0.01823973 0.01471145
+v 0.02267294 0.00555873 0.01450477
+v 0.01684403 0.01825580 0.01450482
+v 0.01684403 0.01840043 0.01280989
+v 0.02657475 0.00555874 0.01179530
+v 0.02474196 0.02091629 0.01179443
+v 0.02328164 0.01974492 0.02122218
+v 0.02301968 0.02071627 0.02122219
+v 0.02040291 0.02208400 0.02122219
+v 0.02412564 0.02174836 0.01179443
+v 0.02204327 0.02143942 0.02122219
+v 0.02207947 0.02141442 0.02122219
+v 0.01684403 0.01851472 0.01179442
+v 0.02276343 0.00555873 0.01281077
+v 0.02282630 0.00555874 0.01179530
+v 0.02503632 0.01036902 0.01179439
+v 0.02482389 0.01991281 0.01179442
+v 0.02439713 0.02139125 0.01179443
+v 0.02152411 0.01036902 0.01179439
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 18
+f 1 18 32
+f 1 32 23
+f 1 23 22
+f 1 22 20
+f 1 20 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 5 11 6
+f 6 12 21
+f 6 21 33
+f 6 33 34
+f 6 34 24
+f 6 24 13
+f 6 13 8
+f 6 8 7
+f 6 11 12
+f 8 13 19
+f 8 19 14
+f 8 14 9
+f 9 14 10
+f 10 15 16
+f 10 16 17
+f 10 17 18
+f 10 14 19
+f 10 19 15
+f 11 20 12
+f 12 20 22
+f 12 22 23
+f 12 23 21
+f 13 24 25
+f 13 25 26
+f 13 26 27
+f 13 27 19
+f 15 28 16
+f 15 19 28
+f 16 29 37
+f 16 37 25
+f 16 25 36
+f 16 36 35
+f 16 35 38
+f 16 38 32
+f 16 32 18
+f 16 18 17
+f 16 28 30
+f 16 30 31
+f 16 31 27
+f 16 27 29
+f 19 27 31
+f 19 31 30
+f 19 30 28
+f 21 23 32
+f 21 32 33
+f 24 34 38
+f 24 38 35
+f 24 35 36
+f 24 36 25
+f 25 37 27
+f 25 27 26
+f 27 37 29
+f 32 38 34
+f 32 34 33
+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_46.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d8d173c68df5c603cd0a82ae4009c2d8d467283
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_46.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.00521076 0.03021885 -0.02755207
+v -0.00381680 0.03014382 -0.02755207
+v -0.00350754 0.02981689 -0.02955531
+v -0.00521076 0.03015990 -0.02786105
+v -0.00552003 0.03018402 -0.02755207
+v -0.00350754 0.03010630 -0.02755207
+v -0.00350754 0.03006878 -0.02786105
+v -0.00350754 0.02964135 -0.03037796
+v -0.00267931 0.02960250 -0.03037796
+v -0.00438404 0.02962393 -0.03037796
+v -0.00521076 0.02978205 -0.02955531
+v -0.00691398 0.02994819 -0.02786105
+v -0.00691398 0.03001117 -0.02755207
+v -0.00226595 0.02961857 -0.02755207
+v -0.00071057 0.02912146 -0.03037796
+v -0.00110885 0.02926215 -0.03037796
+v -0.00526356 0.02955828 -0.03037796
+v -0.00691398 0.02954354 -0.02955531
+v -0.00804092 0.02908796 -0.03037796
+v -0.00855083 0.02917640 -0.02942669
+v -0.00861570 0.02948993 -0.02786105
+v -0.00861570 0.02954085 -0.02755207
+v -0.00200044 0.02948323 -0.02755207
+v -0.00002415 0.02875566 -0.03037796
+v -0.00620644 0.02942562 -0.03037796
+v -0.00691398 0.02932245 -0.03037796
+v -0.00888121 0.02884946 -0.03037796
+v -0.00907582 0.02891645 -0.02990606
+v -0.00949220 0.02903839 -0.02877665
+v -0.00957216 0.02910671 -0.02786105
+v -0.00959177 0.02912547 -0.02755207
+v -0.00029872 0.02827998 -0.02755208
+v -0.00002415 0.02867527 -0.03002528
+v -0.00002415 0.02085946 -0.03037799
+v -0.01024500 0.02828535 -0.03037797
+v -0.01145340 0.02755240 -0.03037797
+v -0.01186675 0.02721206 -0.03037797
+v -0.01040189 0.02825586 -0.02755208
+v -0.00002415 0.02808435 -0.02755208
+v -0.00002415 0.02134986 -0.02755210
+v -0.01543462 0.01653014 -0.03037801
+v -0.01543462 0.02322845 -0.03037798
+v -0.01543462 0.02223689 -0.02755210
+v -0.01543462 0.01713310 -0.02755212
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 22
+f 1 22 31
+f 1 31 38
+f 1 38 43
+f 1 43 44
+f 1 44 40
+f 1 40 39
+f 1 39 32
+f 1 32 23
+f 1 23 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 8 4
+f 3 7 9
+f 3 9 8
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 4 8 10
+f 6 14 15
+f 6 15 16
+f 6 16 9
+f 6 9 7
+f 8 9 16
+f 8 16 15
+f 8 15 24
+f 8 24 34
+f 8 34 41
+f 8 41 42
+f 8 42 37
+f 8 37 36
+f 8 36 35
+f 8 35 27
+f 8 27 19
+f 8 19 26
+f 8 26 25
+f 8 25 17
+f 8 17 10
+f 10 17 11
+f 11 17 18
+f 11 18 12
+f 12 18 19
+f 12 19 20
+f 12 20 21
+f 12 21 13
+f 13 21 22
+f 14 23 15
+f 15 23 24
+f 17 25 18
+f 18 25 26
+f 18 26 19
+f 19 27 28
+f 19 28 20
+f 20 28 29
+f 20 29 21
+f 21 29 22
+f 22 29 30
+f 22 30 31
+f 23 32 33
+f 23 33 24
+f 24 33 39
+f 24 39 40
+f 24 40 34
+f 27 35 28
+f 28 35 29
+f 29 35 36
+f 29 36 30
+f 30 36 31
+f 31 36 37
+f 31 37 38
+f 32 39 33
+f 34 40 41
+f 37 42 38
+f 38 42 43
+f 40 44 41
+f 41 44 43
+f 41 43 42
+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_47.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76f5be1f6f2ea2e6f2b0a533dfff69af03f1a3ac
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_47.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.01157594 0.02919182 -0.02021558
+v 0.01239345 0.02893295 -0.02021558
+v 0.01190686 0.02762149 -0.02788490
+v 0.01133265 0.02746940 -0.02955471
+v 0.01131074 0.02746033 -0.02962378
+v 0.01139491 0.02913844 -0.02067148
+v 0.01074459 0.02913844 -0.02067148
+v 0.01055549 0.02918275 -0.02021558
+v 0.01266787 0.02872746 -0.02021558
+v 0.01295268 0.02753990 -0.02616536
+v 0.01279471 0.02740996 -0.02733598
+v 0.01252951 0.02726693 -0.02846606
+v 0.01209827 0.02711786 -0.02962378
+v 0.01011733 0.02767690 -0.02962378
+v 0.00839353 0.02756207 -0.02962378
+v 0.00824478 0.02754092 -0.02962378
+v 0.00501740 0.02697785 -0.02962378
+v 0.00501740 0.02695262 -0.02021927
+v 0.00577380 0.02707652 -0.02021559
+v 0.01309335 0.02770408 -0.02447253
+v 0.01304723 0.02815431 -0.02021559
+v 0.01441128 0.02567845 -0.02888882
+v 0.01379210 0.02600279 -0.02962378
+v 0.01222280 0.02705138 -0.02962378
+v 0.01218475 0.02709872 -0.02955471
+v 0.01359608 0.02613878 -0.02962378
+v 0.01216284 0.02708462 -0.02962378
+v 0.00501740 0.01954307 -0.02962381
+v 0.00501740 0.02369506 -0.02021560
+v 0.01440091 0.02567844 -0.02685982
+v 0.01442051 0.02569959 -0.02786005
+v 0.01555049 0.01890240 -0.02021562
+v 0.01679694 0.01890244 -0.02962381
+v 0.01472837 0.02487262 -0.02962379
+v 0.01460730 0.02506199 -0.02962379
+v 0.00632726 0.01890244 -0.02962381
+v 0.00648523 0.01890242 -0.02447256
+v 0.00501740 0.01968004 -0.02446335
+v 0.00501740 0.02030857 -0.02021562
+v 0.01471799 0.02490284 -0.02949393
+v 0.00746993 0.01890240 -0.02021562
+v 0.00668471 0.01890241 -0.02277789
+v 0.00501740 0.01981904 -0.02277789
+v 0.00501740 0.02011921 -0.02097822
+v 0.00501740 0.02009806 -0.02106756
+v 0.00714823 0.01890241 -0.02108321
+v 0.00688880 0.01890241 -0.02202357
+v 0.00501740 0.01982004 -0.02277052
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 19
+f 1 19 29
+f 1 29 39
+f 1 39 41
+f 1 41 32
+f 1 32 21
+f 1 21 9
+f 1 9 2
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 3 11 12
+f 3 12 4
+f 4 12 5
+f 5 12 13
+f 5 13 27
+f 5 27 24
+f 5 24 26
+f 5 26 23
+f 5 23 35
+f 5 35 34
+f 5 34 33
+f 5 33 36
+f 5 36 28
+f 5 28 17
+f 5 17 16
+f 5 16 15
+f 5 15 14
+f 5 14 6
+f 6 14 7
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 9 20 10
+f 9 21 22
+f 9 22 20
+f 10 20 22
+f 10 22 11
+f 11 22 23
+f 11 23 12
+f 12 24 25
+f 12 25 13
+f 12 23 26
+f 12 26 24
+f 13 25 27
+f 17 28 38
+f 17 38 43
+f 17 43 48
+f 17 48 45
+f 17 45 44
+f 17 44 39
+f 17 39 29
+f 17 29 18
+f 18 29 19
+f 21 30 31
+f 21 31 22
+f 21 32 33
+f 21 33 30
+f 22 31 34
+f 22 34 35
+f 22 35 23
+f 24 27 25
+f 28 36 37
+f 28 37 38
+f 30 33 31
+f 31 33 40
+f 31 40 34
+f 32 41 46
+f 32 46 47
+f 32 47 42
+f 32 42 37
+f 32 37 36
+f 32 36 33
+f 33 34 40
+f 37 42 38
+f 38 42 43
+f 39 44 41
+f 41 44 45
+f 41 45 46
+f 42 47 48
+f 42 48 43
+f 45 48 46
+f 46 48 47
+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_48.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..daf85df35462d6ee3646f00659d7747565a508a8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_48.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.03278850 0.00004644 -0.00192831
+v -0.03300906 0.00004641 0.00467794
+v -0.03034423 -0.01104750 0.00467790
+v -0.03032913 -0.01104747 -0.00192835
+v -0.04576062 0.00004644 -0.00192831
+v -0.03944602 0.00004641 0.00467794
+v -0.03607723 -0.01104750 0.00467790
+v -0.04248246 -0.01104747 -0.00192835
+v -0.04575608 -0.00001654 -0.00192831
+v -0.04574551 0.00004644 -0.00187464
+v -0.04526059 0.00004643 -0.00085098
+v -0.04212292 -0.01104747 -0.00137158
+v -0.04325593 -0.00888429 -0.00192834
+v -0.04571077 -0.00034666 -0.00192831
+v -0.04567300 -0.00061706 -0.00192831
+v -0.04543431 -0.00061707 -0.00130428
+v -0.04547964 0.00004643 -0.00118271
+v -0.04531346 -0.00174643 -0.00150152
+v -0.04512765 -0.00287581 -0.00174596
+v -0.04517448 -0.00305499 -0.00192832
+v -0.04550682 -0.00161504 -0.00192832
+v -0.04543431 -0.00202552 -0.00192832
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 13
+f 1 13 20
+f 1 20 22
+f 1 22 21
+f 1 21 15
+f 1 15 14
+f 1 14 9
+f 1 9 5
+f 1 5 10
+f 1 10 17
+f 1 17 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 12
+f 3 12 8
+f 3 8 4
+f 5 9 10
+f 6 11 7
+f 7 11 12
+f 8 12 13
+f 9 14 10
+f 10 14 15
+f 10 15 16
+f 10 16 17
+f 11 17 16
+f 11 16 18
+f 11 18 12
+f 12 18 19
+f 12 19 13
+f 13 19 20
+f 15 21 16
+f 16 21 18
+f 18 21 22
+f 18 22 20
+f 18 20 19
+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_49.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..814e4c64557ddd0b44b8f98979bc3c396e5b28db
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_49.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_5.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32d2b7cb3d0b60c86040e38f9edb659aa1b9ee86
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_5.obj
@@ -0,0 +1,715 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_50.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce3ae4402c7654aff1ab1f952907698b1f8c83f9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_50.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.02754499 0.00482521 -0.01159772
+v 0.02681997 0.00555657 -0.01159772
+v 0.02754499 -0.00204348 -0.01159775
+v 0.02754499 0.00555660 -0.01811987
+v 0.02091999 0.00555657 -0.01159772
+v 0.02747221 -0.00211950 -0.01159775
+v 0.02754499 -0.00261799 -0.01714417
+v 0.02754499 0.00555662 -0.02557805
+v 0.02062233 0.00555658 -0.01258712
+v 0.02066806 -0.00261800 -0.01248589
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+v 0.02695714 -0.00260040 -0.01159775
+v 0.02754499 -0.00261796 -0.02557808
+v 0.02693381 -0.00261801 -0.01160185
+v 0.01801246 0.00555662 -0.02557805
+v 0.02010727 0.00555658 -0.01437572
+v 0.02055329 -0.00261800 -0.01290327
+v 0.02584488 -0.00261801 -0.01159775
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+v 0.01805538 0.00555662 -0.02476655
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+v 0.01807498 0.00555662 -0.02447095
+v 0.01977135 -0.00261799 -0.01616298
+v 0.01914058 0.00555660 -0.01811713
+v 0.01882519 0.00555660 -0.01938434
+v 0.01887838 -0.00261797 -0.02277681
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+v 0.01818882 0.00555662 -0.02325438
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+v 0.01921709 -0.00261798 -0.01946784
+v 0.01823734 0.00555661 -0.02277678
+v 0.01836610 0.00555661 -0.02184759
+v 0.01949609 -0.00261799 -0.01769430
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+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_51.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef8f583793debfbc224c80d2b89933b52b714816
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_51.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.04111021 0.00615901 0.00663520
+v -0.04058568 0.00747354 0.00663521
+v -0.04086812 0.00446671 0.00663520
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+v -0.03238237 0.00004640 0.00875728
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+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_52.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18e0353ab05ab6a6c0a573dafa94af30e1b46250
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_52.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.00002265 -0.03716498 0.00602878
+v -0.00002265 -0.03711834 0.00484573
+v 0.00160524 -0.03720163 0.00433698
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+v 0.01287240 -0.03274436 0.00086035
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+f 12 26 13
+f 13 27 28
+f 13 26 29
+f 13 29 27
+f 14 16 30
+f 14 30 31
+f 14 31 18
+f 14 18 17
+f 18 31 30
+f 18 30 44
+f 18 44 55
+f 18 55 66
+f 18 66 74
+f 18 74 70
+f 18 70 69
+f 18 69 68
+f 18 68 67
+f 18 67 59
+f 18 59 58
+f 18 58 57
+f 18 57 56
+f 18 56 45
+f 18 45 34
+f 18 34 33
+f 18 33 32
+f 18 32 20
+f 18 20 19
+f 20 32 21
+f 21 32 22
+f 22 32 33
+f 22 33 34
+f 22 34 35
+f 22 35 36
+f 22 36 23
+f 23 36 24
+f 24 36 37
+f 24 37 26
+f 24 26 25
+f 26 37 38
+f 26 38 29
+f 27 29 39
+f 27 39 28
+f 28 39 40
+f 29 38 41
+f 29 41 42
+f 29 42 43
+f 29 43 39
+f 34 45 35
+f 35 45 46
+f 35 46 36
+f 36 46 37
+f 37 46 47
+f 37 47 38
+f 38 47 41
+f 39 48 60
+f 39 60 64
+f 39 64 72
+f 39 72 71
+f 39 71 73
+f 39 73 66
+f 39 66 55
+f 39 55 65
+f 39 65 61
+f 39 61 49
+f 39 49 40
+f 39 43 48
+f 40 49 50
+f 41 47 51
+f 41 51 42
+f 42 51 52
+f 42 52 43
+f 43 52 53
+f 43 53 48
+f 44 54 55
+f 45 56 46
+f 46 56 57
+f 46 57 47
+f 47 57 58
+f 47 58 59
+f 47 59 51
+f 48 53 60
+f 49 61 50
+f 50 61 65
+f 50 65 54
+f 51 59 62
+f 51 62 52
+f 52 62 53
+f 53 62 63
+f 53 63 64
+f 53 64 60
+f 54 65 55
+f 59 67 62
+f 62 67 63
+f 63 67 68
+f 63 68 69
+f 63 69 70
+f 63 70 71
+f 63 71 72
+f 63 72 64
+f 66 73 74
+f 70 74 71
+f 71 74 73
+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_53.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9a6fd10264a11e4d05b5677b02ed4498b2f6506
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_53.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v -0.03944753 0.00004641 0.00467878
+v -0.03605286 0.00004638 0.01329729
+v -0.03300975 0.00004641 0.00467878
+v -0.03607603 -0.01104750 0.00467874
+v -0.03349628 -0.01104753 0.01329725
+v -0.03181910 0.00004638 0.01329729
+v -0.03238219 0.00004640 0.00875728
+v -0.02955968 -0.01104752 0.00955454
+v -0.03034337 -0.01104750 0.00467874
+v -0.02915675 -0.01104753 0.01329725
+v -0.02918798 -0.01104753 0.01280874
+v -0.03184730 0.00004638 0.01288555
+v -0.03228247 0.00004640 0.00941959
+v -0.02951637 -0.01104752 0.00985912
+v -0.02935419 -0.01104752 0.01113313
+v -0.03205078 0.00004639 0.01111376
+v -0.03214043 0.00004639 0.01045060
+f 1 2 6
+f 1 6 12
+f 1 12 16
+f 1 16 17
+f 1 17 13
+f 1 13 7
+f 1 7 3
+f 1 3 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 6
+f 3 7 8
+f 3 8 9
+f 4 9 8
+f 4 8 14
+f 4 14 15
+f 4 15 11
+f 4 11 10
+f 4 10 5
+f 6 10 11
+f 6 11 12
+f 7 13 8
+f 8 13 14
+f 11 15 12
+f 12 15 16
+f 13 17 14
+f 14 17 16
+f 14 16 15
+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_54.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f752029167aaffffc17563fb0dc77f7e9d6c05c0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_54.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.02688858 0.01826544 -0.02755131
+v -0.02812898 0.01826542 -0.02069956
+v -0.02821810 0.01862266 -0.02029985
+v -0.02821810 0.01888150 -0.02029985
+v -0.02685643 0.01830680 -0.02755131
+v -0.01375404 0.01826544 -0.02755131
+v -0.02820787 0.01826541 -0.02017994
+v -0.02826632 0.01826541 -0.01972907
+v -0.02829992 0.01826541 -0.01938532
+v -0.02830868 0.01890931 -0.01938532
+v -0.02831015 0.01904266 -0.01938852
+v -0.02650871 0.01886727 -0.02705008
+v -0.02640206 0.01882164 -0.02755131
+v -0.01338586 0.01849576 -0.02755131
+v -0.01338586 0.01847081 -0.02616593
+v -0.01371459 0.01826544 -0.02616593
+v -0.01488340 0.01826541 -0.01938532
+v -0.02831015 0.01904337 -0.01938532
+v -0.02735318 0.01968941 -0.01938852
+v -0.01338586 0.02554940 -0.01938530
+v -0.01338586 0.02424023 -0.02755129
+v -0.01338586 0.01849362 -0.02447118
+v -0.01374965 0.01826543 -0.02447118
+v -0.01371459 0.01826544 -0.02614275
+v -0.01486295 0.01826541 -0.01944128
+v -0.01338586 0.01923447 -0.01938532
+v -0.02735464 0.01968870 -0.01938532
+v -0.01338586 0.01851073 -0.02412584
+v -0.01389137 0.01826543 -0.02323929
+v -0.01434429 0.01826542 -0.02108327
+v -0.01338586 0.01888437 -0.02108327
+v -0.01338586 0.01860484 -0.02293391
+v -0.01393082 0.01826542 -0.02290034
+v -0.01338586 0.01875388 -0.02191946
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 21
+f 1 21 14
+f 1 14 6
+f 1 6 16
+f 1 16 24
+f 1 24 23
+f 1 23 29
+f 1 29 33
+f 1 33 30
+f 1 30 25
+f 1 25 17
+f 1 17 9
+f 1 9 8
+f 1 8 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 4 12 5
+f 5 12 13
+f 6 14 15
+f 6 15 16
+f 9 17 26
+f 9 26 20
+f 9 20 27
+f 9 27 18
+f 9 18 10
+f 10 18 11
+f 11 18 12
+f 12 18 19
+f 12 19 20
+f 12 20 21
+f 12 21 13
+f 14 21 20
+f 14 20 26
+f 14 26 31
+f 14 31 34
+f 14 34 32
+f 14 32 28
+f 14 28 22
+f 14 22 15
+f 15 22 23
+f 15 23 24
+f 15 24 16
+f 17 25 26
+f 18 27 19
+f 19 27 20
+f 22 28 23
+f 23 28 29
+f 25 30 31
+f 25 31 26
+f 28 32 33
+f 28 33 29
+f 30 33 32
+f 30 32 34
+f 30 34 31
+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_55.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ec446eb84ec883b7b3d38c651323cda9354c98b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_55.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.02947785 0.00954741 -0.02755214
+v -0.02824606 0.00833596 -0.03243097
+v -0.02947510 0.00841146 -0.02755215
+v -0.02918090 0.01124032 -0.02755214
+v -0.02783775 0.01344772 -0.03243095
+v -0.02797248 0.01179100 -0.03243096
+v -0.01886054 0.00833596 -0.03243097
+v -0.02947235 0.00833594 -0.02755215
+v -0.02749681 0.01514220 -0.03243094
+v -0.02762054 0.01462772 -0.03243095
+v -0.02755593 0.01662898 -0.02755212
+v -0.02754768 0.01632219 -0.02955551
+v -0.01884954 0.00833596 -0.03243002
+v -0.01543462 0.01296471 -0.03243095
+v -0.02260952 0.00833594 -0.02755215
+v -0.02732909 0.01632219 -0.03124992
+v -0.02700327 0.01633794 -0.03243094
+v -0.02700052 0.01811421 -0.02755211
+v -0.02694828 0.01776179 -0.02955550
+v -0.01543462 0.01713087 -0.02755212
+v -0.01543462 0.02440913 -0.03243091
+v -0.02674069 0.01748803 -0.03124992
+v -0.02657572 0.01727092 -0.03228529
+v -0.02664858 0.01704594 -0.03243094
+v -0.02693041 0.01820861 -0.02755211
+v -0.02696890 0.01812522 -0.02771353
+v -0.02685755 0.01830616 -0.02755211
+v -0.02640250 0.01882064 -0.02755211
+v -0.02599557 0.01833606 -0.03124991
+v -0.01543462 0.02223477 -0.02755210
+v -0.02445858 0.01934143 -0.03243093
+v -0.02638738 0.01742983 -0.03243094
+v -0.02576736 0.01813940 -0.03243093
+v -0.02654547 0.01722530 -0.03243094
+v -0.02514459 0.01909126 -0.03124991
+v -0.02499199 0.01901732 -0.03243093
+f 1 2 3
+f 1 3 8
+f 1 8 15
+f 1 15 20
+f 1 20 30
+f 1 30 28
+f 1 28 27
+f 1 27 25
+f 1 25 18
+f 1 18 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 13
+f 2 13 15
+f 2 15 8
+f 2 8 3
+f 2 6 5
+f 2 5 10
+f 2 10 9
+f 2 9 17
+f 2 17 24
+f 2 24 34
+f 2 34 32
+f 2 32 33
+f 2 33 36
+f 2 36 31
+f 2 31 21
+f 2 21 14
+f 2 14 7
+f 4 9 10
+f 4 10 5
+f 4 11 12
+f 4 12 9
+f 7 14 13
+f 9 12 16
+f 9 16 17
+f 11 18 12
+f 12 18 19
+f 12 19 16
+f 13 14 20
+f 13 20 15
+f 14 21 30
+f 14 30 20
+f 16 19 22
+f 16 22 23
+f 16 23 17
+f 17 23 24
+f 18 25 26
+f 18 26 19
+f 19 26 27
+f 19 27 28
+f 19 28 29
+f 19 29 22
+f 21 31 28
+f 21 28 30
+f 22 32 23
+f 22 29 33
+f 22 33 32
+f 23 32 34
+f 23 34 24
+f 25 27 26
+f 28 31 35
+f 28 35 36
+f 28 36 29
+f 29 36 33
+f 31 36 35
+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_56.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec68d25de497febf7b152f2c9e7ed6bc80cda786
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_56.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.02178275 -0.00783080 0.01874944
+v 0.02178972 -0.00783080 0.01789242
+v 0.02549252 -0.00783080 0.01874944
+v 0.02254401 0.00555515 0.01874949
+v 0.02182952 -0.00783079 0.01619806
+v 0.02255695 0.00555515 0.01789247
+v 0.02687672 -0.00783077 0.01000367
+v 0.03021233 -0.00223345 0.01874946
+v 0.02596421 0.00555515 0.01874949
+v 0.02184346 -0.00783079 0.01583590
+v 0.02260670 0.00555516 0.01619811
+v 0.02220866 -0.00783077 0.01000367
+v 0.03166817 -0.00181535 0.01000369
+v 0.03072481 -0.00061754 0.01874947
+v 0.02736233 0.00555518 0.01000372
+v 0.02969587 0.00150948 0.01874948
+v 0.02189421 -0.00783078 0.01454223
+v 0.02263855 0.00555516 0.01539245
+v 0.02211910 -0.00783077 0.01111498
+v 0.02294305 0.00555518 0.01000372
+v 0.03187317 -0.00110372 0.01000370
+v 0.03194780 -0.00061751 0.01000370
+v 0.03164230 0.00071794 0.01000370
+v 0.03050390 0.00007050 0.01874947
+v 0.03019243 0.00096560 0.01874947
+v 0.02199471 -0.00783078 0.01280934
+v 0.02267437 0.00555517 0.01450375
+v 0.02276393 0.00555517 0.01280939
+v 0.02285250 0.00555518 0.01121006
+f 1 2 5
+f 1 5 10
+f 1 10 17
+f 1 17 26
+f 1 26 19
+f 1 19 12
+f 1 12 7
+f 1 7 3
+f 1 3 8
+f 1 8 14
+f 1 14 24
+f 1 24 25
+f 1 25 16
+f 1 16 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 4 9 15
+f 4 15 20
+f 4 20 29
+f 4 29 28
+f 4 28 27
+f 4 27 18
+f 4 18 11
+f 4 11 6
+f 5 6 11
+f 5 11 10
+f 7 12 20
+f 7 20 15
+f 7 15 23
+f 7 23 22
+f 7 22 21
+f 7 21 13
+f 7 13 8
+f 8 13 14
+f 9 16 15
+f 10 11 17
+f 11 18 17
+f 12 19 20
+f 13 21 14
+f 14 22 23
+f 14 23 24
+f 14 21 22
+f 15 16 25
+f 15 25 23
+f 17 18 27
+f 17 27 28
+f 17 28 29
+f 17 29 26
+f 19 26 29
+f 19 29 20
+f 23 25 24
+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_57.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..371e586ee1daa4be01c0583292dcd3b8c85de43d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_57.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v -0.03958411 0.00004649 -0.01517430
+v -0.03955600 -0.00013094 -0.01517430
+v -0.04207922 -0.00061739 -0.01207156
+v -0.04208788 0.00004647 -0.01208971
+v -0.02745015 0.00004649 -0.01517430
+v -0.03948033 -0.00059290 -0.01517430
+v -0.04355597 -0.00150765 -0.01009556
+v -0.04293111 -0.00061739 -0.01101613
+v -0.04360786 -0.00061739 -0.01016945
+v -0.04360786 0.00004647 -0.01017334
+v -0.03278849 0.00004644 -0.00192831
+v -0.02399288 -0.01037144 -0.01517434
+v -0.03906303 -0.00122617 -0.01517430
+v -0.04349327 -0.00987180 -0.00484439
+v -0.04377651 -0.00874291 -0.00528911
+v -0.04377219 -0.00350130 -0.00862652
+v -0.04192571 -0.00156170 -0.01187059
+v -0.04393651 -0.00216745 -0.00920350
+v -0.04527055 -0.00327187 -0.00674257
+v -0.04487272 -0.00231124 -0.00776688
+v -0.04423056 -0.00061740 -0.00922035
+v -0.04500893 -0.00061740 -0.00791079
+v -0.04497002 0.00004646 -0.00784077
+v -0.03059607 -0.01037149 -0.00192835
+v -0.02438423 -0.01037145 -0.01436008
+v -0.04576136 0.00004644 -0.00192831
+v -0.02873663 -0.01037144 -0.01517434
+v -0.03874520 -0.00164734 -0.01517431
+v -0.04285760 -0.01037148 -0.00510630
+v -0.04330084 -0.01037148 -0.00448134
+v -0.04343273 -0.01037149 -0.00392121
+v -0.04361651 -0.01012675 -0.00371505
+v -0.04389975 -0.00921813 -0.00422331
+v -0.04530731 -0.00509011 -0.00518926
+v -0.04508028 -0.00440177 -0.00631859
+v -0.04442515 -0.00395102 -0.00748422
+v -0.04391273 -0.00569686 -0.00704728
+v -0.04541542 -0.00390412 -0.00578439
+v -0.04569433 -0.00231125 -0.00583236
+v -0.04535055 -0.00231124 -0.00691890
+v -0.04513434 0.00004646 -0.00750884
+v -0.04541109 -0.00061740 -0.00706282
+v -0.04265220 -0.01037149 -0.00192835
+v -0.04592136 0.00004644 -0.00244306
+v -0.04575703 -0.00001678 -0.00192831
+v -0.04241436 -0.01037148 -0.00544989
+v -0.04337219 -0.01037149 -0.00286967
+v -0.04361651 -0.01012675 -0.00311732
+v -0.04462839 -0.00739070 -0.00413773
+v -0.04508461 -0.00602830 -0.00413772
+v -0.04533109 -0.00518189 -0.00413772
+v -0.04561217 -0.00400406 -0.00413771
+v -0.04592568 -0.00231125 -0.00413771
+v -0.04608136 -0.00061741 -0.00413770
+v -0.04581757 -0.00061741 -0.00583235
+v -0.04537866 0.00004646 -0.00699280
+v -0.04552136 0.00004645 -0.00658178
+v -0.04325543 -0.00888365 -0.00192834
+v -0.04322517 -0.00908455 -0.00197242
+v -0.04306300 -0.01037149 -0.00239253
+v -0.04604892 0.00004644 -0.00347385
+v -0.04586947 -0.00061742 -0.00244306
+v -0.04567271 -0.00061742 -0.00192831
+v -0.04381111 -0.00908455 -0.00282039
+v -0.04529217 -0.00505443 -0.00317306
+v -0.04541542 -0.00400407 -0.00289169
+v -0.04606839 0.00004645 -0.00413770
+v -0.04590839 0.00004645 -0.00516849
+v -0.04576785 0.00004645 -0.00583235
+v -0.04517326 -0.00305467 -0.00192832
+v -0.04555596 -0.00231126 -0.00236397
+v -0.04550623 -0.00161476 -0.00192832
+v -0.04543487 -0.00202572 -0.00192832
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 23
+f 1 23 41
+f 1 41 56
+f 1 56 57
+f 1 57 69
+f 1 69 68
+f 1 68 67
+f 1 67 61
+f 1 61 44
+f 1 44 26
+f 1 26 11
+f 1 11 5
+f 1 5 12
+f 1 12 27
+f 1 27 28
+f 1 28 13
+f 1 13 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 4
+f 3 6 7
+f 4 8 9
+f 4 9 10
+f 5 11 12
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 7
+f 7 9 8
+f 7 17 16
+f 7 16 18
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 9
+f 9 21 10
+f 10 21 22
+f 10 22 23
+f 11 24 25
+f 11 25 12
+f 11 26 45
+f 11 45 63
+f 11 63 72
+f 11 72 73
+f 11 73 70
+f 11 70 58
+f 11 58 43
+f 11 43 24
+f 12 25 24
+f 12 24 43
+f 12 43 60
+f 12 60 47
+f 12 47 31
+f 12 31 30
+f 12 30 29
+f 12 29 46
+f 12 46 27
+f 13 28 29
+f 13 29 14
+f 14 29 30
+f 14 30 31
+f 14 31 32
+f 14 32 33
+f 14 33 34
+f 14 34 15
+f 15 34 35
+f 15 35 36
+f 15 36 37
+f 15 37 16
+f 16 37 36
+f 16 36 18
+f 18 36 19
+f 19 36 35
+f 19 35 34
+f 19 34 38
+f 19 38 39
+f 19 39 40
+f 19 40 20
+f 20 40 22
+f 20 22 21
+f 22 41 23
+f 22 40 42
+f 22 42 41
+f 26 44 45
+f 27 46 28
+f 28 46 29
+f 31 47 48
+f 31 48 32
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+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_58.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a58ba17cff694e786f89e0329e649e158271b5c1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_58.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
+v -0.04236294 0.01317367 0.00264083
+v -0.04231682 0.01317368 0.00099490
+v -0.04231682 0.01317367 0.00286855
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+v -0.03998253 0.01706029 0.00201629
+v -0.04114366 0.01317368 -0.00021096
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+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_59.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf0a4ab5515ed6c085ce97c388f343607c8b1ad1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_59.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.02846913 -0.01037222 -0.01552567
+v -0.02382498 -0.01037222 -0.01552567
+v -0.02642369 -0.01830089 -0.01552570
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+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_6.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd38a19389e52f779494a5af25fb757354a63979
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_6.obj
@@ -0,0 +1,427 @@
+# https://github.com/mikedh/trimesh
+v 0.01684308 0.02139713 0.04019545
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diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_60.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e71bce92a29480f93dad9ae1deb5b0f0243785fe
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_60.obj
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diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_61.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3aaa7d78a7c630679d10131f457352d12370636a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_61.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.03104581 0.01059100 -0.01258925
+v -0.03998601 0.01059096 -0.00241710
+v -0.02927341 0.01826539 -0.01258922
+v -0.02519211 0.01059100 -0.01258925
+v -0.03308537 0.01826535 -0.00241707
+v -0.02906272 0.01059096 -0.00241710
+v -0.01779841 0.01826539 -0.01258922
+v -0.02576987 0.01059099 -0.01090634
+v -0.02334368 0.01826535 -0.00241707
+v -0.02905620 0.01059096 -0.00243104
+v -0.01856950 0.01826538 -0.01095311
+v -0.01945135 0.01826537 -0.00921942
+v -0.02029411 0.01826537 -0.00756738
+v -0.02126502 0.01826536 -0.00583169
+v -0.02216208 0.01826536 -0.00427425
+v -0.02903665 0.01059096 -0.00247386
+v -0.02826992 0.01059097 -0.00425635
+v -0.02790501 0.01059097 -0.00515855
+v -0.02761830 0.01059097 -0.00587155
+v -0.02699274 0.01059098 -0.00751562
+v -0.02635850 0.01059098 -0.00922841
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 21
+f 1 21 20
+f 1 20 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 10
+f 1 10 6
+f 1 6 2
+f 2 5 3
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 15
+f 3 15 14
+f 3 14 13
+f 3 13 12
+f 3 12 11
+f 3 11 7
+f 4 7 8
+f 6 10 7
+f 6 7 11
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 9
+f 7 10 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 8
+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_62.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56fe3f17031322c715ec4779bd80b0463c71b856
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_62.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.02187576 0.01958667 -0.00241608
+v -0.01214575 0.02499320 -0.00241606
+v -0.01214575 0.02646627 0.00721375
+v -0.02187576 0.02153879 0.00721373
+v -0.02187576 0.02941595 -0.00241604
+v -0.01214575 0.03129797 -0.00241604
+v -0.01214575 0.03682080 0.00721379
+v -0.02187576 0.02993090 0.00721376
+v -0.02187576 0.03088391 -0.00067690
+v -0.02055855 0.03023206 -0.00241604
+v -0.01826892 0.03082233 -0.00241604
+v -0.01214575 0.03636571 0.00287962
+v -0.01214575 0.03706376 0.00603080
+v -0.01372678 0.03670789 0.00603079
+v -0.01374488 0.03636740 0.00721378
+v -0.01679551 0.03456238 0.00721378
+v -0.02187576 0.03155629 0.00665008
+v -0.02054713 0.03023890 -0.00241604
+v -0.02187576 0.03267011 0.00149207
+v -0.01883656 0.03076587 -0.00241604
+v -0.01936992 0.03067519 -0.00241604
+v -0.01372678 0.03617238 0.00306531
+v -0.01214575 0.03705521 0.00433597
+v -0.01214575 0.03705692 0.00445757
+v -0.01372678 0.03669420 0.00433596
+v -0.01543068 0.03623910 0.00433596
+v -0.01659454 0.03590889 0.00554534
+v -0.01550973 0.03613644 0.00607886
+v -0.01498399 0.03597731 0.00721378
+v -0.02187576 0.03313718 0.00580549
+v -0.02187576 0.03185741 0.00648984
+v -0.02187576 0.03346911 0.00275235
+v -0.02053951 0.03375313 0.00236871
+v -0.01635168 0.03581993 0.00345556
+v -0.01543068 0.03594825 0.00330285
+v -0.01656883 0.03589691 0.00433596
+v -0.01741935 0.03560947 0.00433596
+v -0.01883656 0.03510133 0.00433596
+v -0.02138812 0.03410215 0.00481953
+v -0.02025187 0.03434339 0.00550952
+v -0.02187576 0.03350161 0.00535115
+v -0.02187576 0.03362481 0.00300686
+v -0.02139288 0.03410558 0.00348666
+v -0.02053951 0.03426469 0.00321425
+v -0.02070809 0.03437589 0.00428789
+v -0.02139288 0.03410558 0.00369027
+v -0.02187576 0.03387459 0.00411349
+v -0.02187576 0.03387288 0.00444153
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 17
+f 1 17 31
+f 1 31 30
+f 1 30 41
+f 1 41 48
+f 1 48 47
+f 1 47 42
+f 1 42 32
+f 1 32 19
+f 1 19 9
+f 1 9 5
+f 1 5 10
+f 1 10 18
+f 1 18 21
+f 1 21 20
+f 1 20 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 23
+f 2 23 24
+f 2 24 13
+f 2 13 7
+f 2 7 3
+f 3 7 15
+f 3 15 29
+f 3 29 16
+f 3 16 8
+f 3 8 4
+f 5 9 10
+f 6 11 12
+f 7 13 14
+f 7 14 15
+f 8 16 17
+f 9 18 10
+f 9 19 18
+f 11 20 12
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 13 24 14
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 14 27 28
+f 14 28 15
+f 15 28 29
+f 16 29 30
+f 16 30 31
+f 16 31 17
+f 18 19 21
+f 19 32 33
+f 19 33 21
+f 21 33 34
+f 21 34 35
+f 21 35 22
+f 22 35 23
+f 23 35 34
+f 23 34 25
+f 23 25 24
+f 25 34 26
+f 26 34 36
+f 26 36 27
+f 27 29 28
+f 27 36 37
+f 27 37 38
+f 27 38 39
+f 27 39 40
+f 27 40 29
+f 29 40 30
+f 30 40 41
+f 32 42 33
+f 33 42 43
+f 33 43 44
+f 33 44 34
+f 34 44 43
+f 34 43 37
+f 34 37 36
+f 37 43 38
+f 38 43 45
+f 38 45 39
+f 39 45 46
+f 39 46 47
+f 39 47 48
+f 39 48 41
+f 39 41 40
+f 42 47 43
+f 43 46 45
+f 43 47 46
+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_63.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2ea98b5067d3070119101e9407cdfdb38b9044b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_63.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.03032942 -0.01104902 -0.00192835
+v -0.03052197 -0.01104904 0.00319696
+v -0.02523018 -0.01815234 -0.00192838
+v -0.04248381 -0.01104902 -0.00192835
+v -0.02523018 -0.01891188 0.00319693
+v -0.03702312 -0.01104904 0.00319696
+v -0.02523018 -0.02373043 -0.00192840
+v -0.04213925 -0.01247370 -0.00192836
+v -0.04183860 -0.01333842 -0.00158570
+v -0.04195177 -0.01247370 -0.00148737
+v -0.04212236 -0.01104902 -0.00137197
+v -0.02523018 -0.02674998 0.00319690
+v -0.03709068 -0.01760940 0.00319694
+v -0.03076182 -0.02418367 -0.00192840
+v -0.04187744 -0.01340339 -0.00192836
+v -0.04015968 -0.01675550 -0.00149691
+v -0.03856860 -0.01860868 0.00042507
+v -0.03670896 -0.01972709 0.00319693
+v -0.03686942 -0.01924910 0.00319693
+v -0.03696907 -0.01894901 0.00319693
+v -0.02603755 -0.02679948 0.00319690
+v -0.02735500 -0.02685052 0.00319690
+v -0.02778909 -0.02682113 0.00319690
+v -0.02859645 -0.02676235 0.00319690
+v -0.03196442 -0.02405527 -0.00192840
+v -0.04018840 -0.01670290 -0.00192837
+v -0.03867839 -0.01873243 -0.00074739
+v -0.04015968 -0.01675550 -0.00188873
+v -0.03707548 -0.02052683 0.00094682
+v -0.03688968 -0.02031955 0.00216093
+v -0.03664815 -0.01985703 0.00319693
+v -0.03032266 -0.02602448 0.00319690
+v -0.03172457 -0.02524021 0.00157443
+v -0.03255052 -0.02397484 -0.00192840
+v -0.04012083 -0.01680190 -0.00192837
+v -0.03865136 -0.01868138 -0.00192838
+v -0.03844868 -0.01893816 -0.00192838
+v -0.03800952 -0.01957858 -0.00074739
+v -0.03636101 -0.02137297 0.00094682
+v -0.03528340 -0.02207682 0.00264154
+v -0.03516517 -0.02194997 0.00319692
+v -0.03619549 -0.02090737 0.00269221
+v -0.03594551 -0.02090582 0.00319692
+v -0.03172795 -0.02525723 0.00319691
+v -0.03176173 -0.02527424 0.00264153
+v -0.03377170 -0.02384336 0.00094681
+v -0.03365853 -0.02372270 -0.00074741
+v -0.03348963 -0.02359739 -0.00192840
+v -0.03337646 -0.02365153 -0.00192840
+v -0.03793352 -0.01952598 -0.00192838
+v -0.03715824 -0.02057787 -0.00074740
+v -0.03550973 -0.02227791 0.00094682
+v -0.03449124 -0.02292297 0.00264154
+v -0.03353523 -0.02368249 0.00319691
+v -0.03364164 -0.02377066 0.00264153
+v -0.03261301 -0.02461836 0.00264153
+v -0.03462129 -0.02312406 0.00094682
+v -0.03450813 -0.02308074 -0.00074740
+v -0.03357071 -0.02353707 -0.00192840
+v -0.03708055 -0.02047886 -0.00192839
+v -0.03635595 -0.02142557 -0.00074740
+v -0.03550466 -0.02223305 -0.00074740
+v -0.03423281 -0.02303587 -0.00192839
+v -0.03538812 -0.02211857 -0.00192839
+v -0.03508578 -0.02237535 -0.00192839
+v -0.03683733 -0.02073565 -0.00192839
+v -0.03623940 -0.02132501 -0.00192839
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 25
+f 1 25 34
+f 1 34 49
+f 1 49 48
+f 1 48 59
+f 1 59 63
+f 1 63 65
+f 1 65 64
+f 1 64 67
+f 1 67 66
+f 1 66 60
+f 1 60 50
+f 1 50 37
+f 1 37 36
+f 1 36 35
+f 1 35 26
+f 1 26 15
+f 1 15 8
+f 1 8 4
+f 1 4 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
+f 2 6 13
+f 2 13 20
+f 2 20 19
+f 2 19 18
+f 2 18 31
+f 2 31 43
+f 2 43 41
+f 2 41 54
+f 2 54 44
+f 2 44 32
+f 2 32 24
+f 2 24 23
+f 2 23 22
+f 2 22 21
+f 2 21 12
+f 2 12 5
+f 3 5 12
+f 3 12 7
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 6 11 13
+f 7 12 14
+f 8 15 9
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 10 20 11
+f 11 20 13
+f 12 21 14
+f 14 21 22
+f 14 22 23
+f 14 23 24
+f 14 24 25
+f 15 26 16
+f 16 27 17
+f 16 26 28
+f 16 28 27
+f 17 27 29
+f 17 29 30
+f 17 30 31
+f 17 31 18
+f 24 32 33
+f 24 33 34
+f 24 34 25
+f 26 35 28
+f 27 36 37
+f 27 37 38
+f 27 38 29
+f 27 28 36
+f 28 35 36
+f 29 38 39
+f 29 39 40
+f 29 40 30
+f 30 40 41
+f 30 41 42
+f 30 42 43
+f 30 43 31
+f 32 44 45
+f 32 45 33
+f 33 45 46
+f 33 46 47
+f 33 47 48
+f 33 48 49
+f 33 49 34
+f 37 50 51
+f 37 51 38
+f 38 51 39
+f 39 52 53
+f 39 53 40
+f 39 51 52
+f 40 53 41
+f 41 43 42
+f 41 53 54
+f 44 54 55
+f 44 55 56
+f 44 56 45
+f 45 56 46
+f 46 56 55
+f 46 55 57
+f 46 57 58
+f 46 58 47
+f 47 59 48
+f 47 58 59
+f 50 60 51
+f 51 61 52
+f 51 60 61
+f 52 57 55
+f 52 55 53
+f 52 61 57
+f 53 55 54
+f 57 61 62
+f 57 62 58
+f 58 63 59
+f 58 62 64
+f 58 64 65
+f 58 65 63
+f 60 66 61
+f 61 66 67
+f 61 67 62
+f 62 67 64
+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_64.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9c94194417e446810cbb5857668975c43a457fb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_64.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.03222532 0.00555689 0.02950621
+v 0.03214621 0.00555690 0.02803056
+v 0.02779759 0.01036857 0.03144846
+v 0.02769898 0.01036856 0.03653270
+v 0.02760362 0.01036855 0.03742698
+v 0.02751259 0.01036855 0.03826571
+v 0.02797097 0.00857341 0.03891743
+v 0.02810534 0.00744480 0.03919516
+v 0.02822887 0.00615885 0.03933216
+v 0.02827547 0.00555686 0.03937289
+v 0.02759928 0.01036858 0.02975618
+v 0.02647447 0.00555692 0.02130403
+v 0.02448817 0.01036814 0.02130405
+v 0.02682340 0.01036854 0.03952659
+v 0.02696319 0.00954563 0.03960435
+v 0.02715499 0.00615884 0.03994501
+v 0.02715499 0.00555685 0.03998759
+v 0.02459003 0.01036861 0.02217056
+v 0.02251270 0.00555692 0.02130403
+v 0.02124810 0.01036861 0.02130405
+v 0.02545260 0.01036854 0.04014684
+v 0.02545260 0.00954563 0.04021905
+v 0.02545260 0.00785224 0.04021719
+v 0.02545260 0.00615884 0.04017089
+v 0.02545260 0.00555685 0.04015053
+v 0.02117008 0.01036861 0.02297782
+v 0.02118525 0.01036579 0.02130405
+v 0.02251053 0.00555692 0.02246493
+v 0.02115816 0.01036859 0.02643458
+v 0.02374913 0.01036854 0.04005427
+v 0.02374913 0.00954563 0.03994873
+v 0.02404604 0.00555685 0.03953582
+v 0.02251053 0.00555692 0.02297780
+v 0.02115599 0.01036859 0.02813427
+v 0.02246827 0.01036855 0.03943401
+v 0.02281287 0.00839913 0.03916924
+v 0.02318564 0.00555686 0.03825458
+v 0.02251270 0.00555691 0.02467193
+v 0.02115924 0.01036858 0.02982099
+v 0.02251920 0.00555690 0.02806204
+v 0.02175849 0.01036855 0.03828238
+v 0.02296241 0.00555686 0.03752694
+v 0.02116791 0.01036857 0.03144846
+v 0.02252462 0.00555689 0.02975616
+v 0.02156669 0.01036855 0.03743068
+v 0.02285405 0.00555686 0.03707702
+v 0.02254088 0.00555688 0.03144844
+v 0.02118417 0.01036857 0.03269638
+v 0.02137380 0.01036856 0.03653270
+v 0.02277277 0.00555687 0.03638271
+v 0.02256797 0.00555688 0.03259082
+v 0.02120801 0.01036857 0.03379617
+v 0.02134346 0.01036856 0.03615129
+v 0.02265032 0.00555687 0.03483855
+v 0.02258205 0.00555688 0.03314257
+v 0.02262215 0.00555687 0.03419423
+v 0.02125027 0.01036856 0.03483857
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 17
+f 1 17 25
+f 1 25 32
+f 1 32 37
+f 1 37 42
+f 1 42 46
+f 1 46 50
+f 1 50 54
+f 1 54 56
+f 1 56 55
+f 1 55 51
+f 1 51 47
+f 1 47 44
+f 1 44 40
+f 1 40 38
+f 1 38 33
+f 1 33 28
+f 1 28 19
+f 1 19 12
+f 1 12 2
+f 2 11 3
+f 2 12 13
+f 2 13 11
+f 3 11 18
+f 3 18 20
+f 3 20 26
+f 3 26 29
+f 3 29 34
+f 3 34 39
+f 3 39 43
+f 3 43 48
+f 3 48 52
+f 3 52 57
+f 3 57 53
+f 3 53 49
+f 3 49 45
+f 3 45 41
+f 3 41 35
+f 3 35 30
+f 3 30 21
+f 3 21 14
+f 3 14 6
+f 3 6 5
+f 3 5 4
+f 6 14 7
+f 7 14 8
+f 8 14 15
+f 8 15 9
+f 9 15 16
+f 9 16 10
+f 10 16 17
+f 11 13 18
+f 12 19 27
+f 12 27 20
+f 12 20 13
+f 13 20 18
+f 14 21 15
+f 15 21 16
+f 16 21 22
+f 16 22 17
+f 17 22 23
+f 17 23 24
+f 17 24 25
+f 19 26 27
+f 19 28 29
+f 19 29 26
+f 20 27 26
+f 21 30 22
+f 22 30 23
+f 23 30 24
+f 24 30 25
+f 25 30 31
+f 25 31 32
+f 28 33 34
+f 28 34 29
+f 30 35 31
+f 31 35 32
+f 32 35 36
+f 32 36 37
+f 33 38 34
+f 34 38 40
+f 34 40 39
+f 35 41 36
+f 36 41 37
+f 37 41 42
+f 39 40 44
+f 39 44 43
+f 41 45 46
+f 41 46 42
+f 43 47 48
+f 43 44 47
+f 45 49 46
+f 46 49 50
+f 47 51 52
+f 47 52 48
+f 49 53 50
+f 50 53 54
+f 51 55 52
+f 52 55 56
+f 52 56 57
+f 53 57 54
+f 54 57 56
+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_65.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01c9b529b8885c878b8029e0ce17faa9e1ad2842
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_65.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.01543462 0.01296462 -0.03243095
+v -0.01543462 0.01653171 -0.03037801
+v -0.01543462 0.02440873 -0.03243091
+v -0.00002415 0.01794714 -0.03243093
+v -0.00002415 0.02085958 -0.03037799
+v -0.01543462 0.02322676 -0.03037798
+v -0.01543462 0.02407406 -0.03183609
+v -0.01186675 0.02721179 -0.03037797
+v -0.01432579 0.02552376 -0.03243091
+v -0.00002415 0.02889985 -0.03243089
+v -0.00002415 0.02875617 -0.03037796
+v -0.01543462 0.02402998 -0.03175853
+v -0.01145340 0.02755136 -0.03037797
+v -0.01151676 0.02755952 -0.03125010
+v -0.01362278 0.02604780 -0.03243090
+v -0.00052652 0.02907780 -0.03243089
+v -0.00054010 0.02914635 -0.03125009
+v -0.00002415 0.02895535 -0.03125009
+v -0.00071057 0.02912186 -0.03037796
+v -0.01024500 0.02828600 -0.03037797
+v -0.01141719 0.02745505 -0.03243090
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+v -0.00888121 0.02884923 -0.03037796
+v -0.01037625 0.02781911 -0.03243090
+v -0.00180281 0.02916432 -0.03243089
+v -0.00350754 0.02964265 -0.03037796
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+v -0.00804092 0.02908758 -0.03037796
+v -0.00793984 0.02907126 -0.03056706
+v -0.00859608 0.02834805 -0.03243090
+v -0.00192953 0.02916922 -0.03243089
+v -0.00350754 0.02945654 -0.03125009
+v -0.00438404 0.02962306 -0.03037796
+v -0.00691398 0.02932267 -0.03037796
+v -0.00691398 0.02917574 -0.03092294
+v -0.00691398 0.02892924 -0.03177016
+v -0.00691398 0.02871864 -0.03243089
+v -0.00350754 0.02914310 -0.03243089
+v -0.00484266 0.02908433 -0.03228279
+v -0.00526356 0.02955775 -0.03037796
+v -0.00620644 0.02942552 -0.03037796
+v -0.00597864 0.02901250 -0.03206174
+v -0.00568899 0.02892924 -0.03243089
+v -0.00369461 0.02912840 -0.03243089
+v -0.00464956 0.02905167 -0.03243089
+v -0.00496184 0.02902066 -0.03243089
+v -0.00532994 0.02928023 -0.03139820
+f 1 2 6
+f 1 6 12
+f 1 12 7
+f 1 7 3
+f 1 3 9
+f 1 9 15
+f 1 15 22
+f 1 22 21
+f 1 21 29
+f 1 29 35
+f 1 35 42
+f 1 42 48
+f 1 48 51
+f 1 51 50
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+f 1 43 36
+f 1 36 30
+f 1 30 23
+f 1 23 16
+f 1 16 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
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+f 17 19 18
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+f 20 28 27
+f 21 27 29
+f 23 30 24
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+f 27 28 29
+f 28 32 29
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+f 28 34 32
+f 29 32 35
+f 30 36 31
+f 31 37 38
+f 31 36 37
+f 32 34 35
+f 33 39 34
+f 34 39 40
+f 34 40 41
+f 34 41 35
+f 35 41 42
+f 36 43 37
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+f 37 44 38
+f 38 44 45
+f 39 46 47
+f 39 47 40
+f 40 47 41
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+f 43 49 44
+f 44 49 50
+f 44 50 51
+f 44 51 48
+f 44 48 47
+f 44 47 52
+f 44 52 45
+f 45 52 46
+f 46 52 47
+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_66.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a486f73bd060c9a708f30757a369e54461acddc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_66.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.01404840 -0.02657344 0.01064880
+v 0.01863830 -0.02706321 0.01064880
+v 0.01404840 -0.02457859 0.02081611
+v 0.01404840 -0.02052285 0.01064882
+v 0.01878909 -0.02707639 0.01064880
+v 0.02034112 -0.02705190 0.01064880
+v 0.01863830 -0.02417924 0.02081611
+v 0.01404840 -0.01989561 0.02081613
+v 0.01404840 -0.02044374 0.01111464
+v 0.02215673 -0.00783208 0.01064887
+v 0.02155725 -0.02657155 0.01064880
+v 0.02142117 -0.02364049 0.02081611
+v 0.02034112 -0.02401347 0.02081611
+v 0.01404840 -0.01989748 0.01958690
+v 0.02177669 -0.00783212 0.02081617
+v 0.02177301 -0.00783211 0.01958694
+v 0.01404840 -0.02027421 0.01231800
+v 0.02215428 -0.00783208 0.01067475
+v 0.02657132 -0.00783208 0.01064887
+v 0.02301366 -0.02538103 0.01064881
+v 0.02165410 -0.02345023 0.02081611
+v 0.01404840 -0.01991632 0.01789285
+v 0.02584067 -0.00783212 0.02081617
+v 0.02178895 -0.00783211 0.01789289
+v 0.01404840 -0.02020640 0.01296696
+v 0.02199368 -0.00783209 0.01280973
+v 0.02211750 -0.00783208 0.01111469
+v 0.02612631 -0.02056618 0.01064882
+v 0.02306147 -0.02533770 0.01064881
+v 0.02305044 -0.02532828 0.01071450
+v 0.02227197 -0.02284743 0.02081612
+v 0.01404840 -0.01991820 0.01782815
+v 0.02355920 -0.02094109 0.02081612
+v 0.02182941 -0.00783210 0.01619784
+v 0.01404840 -0.01996905 0.01619780
+v 0.01404840 -0.02006888 0.01450375
+v 0.02189316 -0.00783209 0.01454260
+v 0.02603436 -0.02104842 0.01064882
+v 0.02310438 -0.02529249 0.01064881
+v 0.02284571 -0.02223333 0.02081612
+v 0.02306025 -0.02200163 0.02081612
+v 0.02562613 -0.02213534 0.01064882
+v 0.02184289 -0.00783210 0.01583554
+v 0.01404840 -0.01997659 0.01604153
+v 0.02388898 -0.02445234 0.01064881
+v 0.02532700 -0.02269104 0.01064882
+v 0.02460370 -0.02367059 0.01064881
+v 0.02474591 -0.02349728 0.01064881
+f 1 2 3
+f 1 3 8
+f 1 8 14
+f 1 14 22
+f 1 22 32
+f 1 32 35
+f 1 35 44
+f 1 44 36
+f 1 36 25
+f 1 25 17
+f 1 17 9
+f 1 9 4
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+f 1 48 47
+f 1 47 45
+f 1 45 39
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+f 1 20 11
+f 1 11 6
+f 1 6 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 3 7 13
+f 3 13 12
+f 3 12 21
+f 3 21 31
+f 3 31 40
+f 3 40 41
+f 3 41 33
+f 3 33 23
+f 3 23 15
+f 3 15 8
+f 4 9 10
+f 6 11 12
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+f 6 13 7
+f 8 15 16
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+f 9 17 18
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+f 10 18 27
+f 10 27 26
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+f 10 43 34
+f 10 34 24
+f 10 24 16
+f 10 16 15
+f 10 15 23
+f 10 23 19
+f 11 20 21
+f 11 21 12
+f 14 16 22
+f 16 24 22
+f 17 25 26
+f 17 26 27
+f 17 27 18
+f 19 23 28
+f 20 29 30
+f 20 30 21
+f 21 30 31
+f 22 24 32
+f 23 33 28
+f 24 34 35
+f 24 35 32
+f 25 36 37
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+f 29 39 30
+f 30 39 31
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+f 33 41 42
+f 33 42 38
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+f 34 44 35
+f 36 44 43
+f 36 43 37
+f 39 45 40
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+f 41 46 42
+f 41 45 47
+f 41 47 48
+f 41 48 46
+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_67.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..261c0af75bdec56aa9f87c6f96b52f9783534275
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_67.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.02781777 0.00555531 -0.02557805
+v 0.02878103 0.00531941 -0.02557805
+v 0.02773063 0.00555532 -0.02616646
+v 0.01801251 0.00555531 -0.02557805
+v 0.02925790 0.00517001 -0.02557805
+v 0.02708741 0.00555533 -0.02935529
+v 0.01770198 0.00555533 -0.02936344
+v 0.01680527 -0.00783064 -0.02557810
+v 0.02717454 0.00551077 -0.02936344
+v 0.03056812 0.00451735 -0.02557805
+v 0.02708424 0.00555533 -0.02936344
+v 0.01649950 -0.00783062 -0.02936349
+v 0.02293970 -0.00783064 -0.02557810
+v 0.02779401 0.00519231 -0.02936344
+v 0.03171516 0.00386470 -0.02557806
+v 0.02396949 -0.00783062 -0.02936349
+v 0.02316467 -0.00783063 -0.02618837
+v 0.02985360 -0.00489763 -0.02557809
+v 0.02915176 0.00412945 -0.02936344
+v 0.03182448 0.00369826 -0.02557806
+v 0.02981558 0.00374284 -0.02892251
+v 0.02794610 -0.00472724 -0.02936348
+v 0.03184666 -0.00361854 -0.02557808
+v 0.03120026 -0.00411654 -0.02557809
+v 0.03080735 -0.00439700 -0.02557809
+v 0.02993440 0.00277041 -0.02936345
+v 0.03234730 0.00273501 -0.02557806
+v 0.02907412 -0.00384000 -0.02936347
+v 0.03250098 -0.00230799 -0.02557808
+v 0.02924206 -0.00369060 -0.02936347
+v 0.02985994 -0.00334068 -0.02898552
+v 0.03177378 -0.00353204 -0.02579262
+v 0.03254217 0.00172195 -0.02557806
+v 0.03266416 0.00107716 -0.02557807
+v 0.03019106 0.00107718 -0.02936346
+v 0.03258970 -0.00152690 -0.02557808
+v 0.02976488 -0.00300387 -0.02936347
+v 0.02999302 -0.00230928 -0.02936347
+v 0.03018155 -0.00072744 -0.02936346
+v 0.03267683 0.00007197 -0.02557807
+v 0.03019264 -0.00061736 -0.02936346
+v 0.03268475 -0.00061738 -0.02557807
+f 1 2 3
+f 1 3 6
+f 1 6 11
+f 1 11 7
+f 1 7 4
+f 1 4 8
+f 1 8 13
+f 1 13 18
+f 1 18 25
+f 1 25 24
+f 1 24 23
+f 1 23 29
+f 1 29 36
+f 1 36 42
+f 1 42 40
+f 1 40 34
+f 1 34 33
+f 1 33 27
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+f 1 20 15
+f 1 15 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 4 7 8
+f 5 9 6
+f 5 10 9
+f 6 9 11
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+f 7 11 9
+f 7 9 14
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+f 7 22 16
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+f 9 10 14
+f 10 15 14
+f 13 17 18
+f 14 15 19
+f 15 20 21
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+f 16 18 17
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+f 16 23 24
+f 16 24 25
+f 16 25 18
+f 19 21 26
+f 20 27 21
+f 21 27 26
+f 22 28 23
+f 23 28 30
+f 23 30 31
+f 23 31 32
+f 23 32 29
+f 26 27 33
+f 26 33 34
+f 26 34 35
+f 29 32 31
+f 29 31 37
+f 29 37 38
+f 29 38 39
+f 29 39 36
+f 30 37 31
+f 34 40 35
+f 35 40 42
+f 35 42 41
+f 36 39 42
+f 39 41 42
+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_68.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9db2bfa42ffec3b8f32c52199ffefe192801ed6f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_68.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
+v 0.02118518 0.01036861 0.02122416
+v 0.01684308 0.01783978 0.02297724
+v 0.01684308 0.01789883 0.02127822
+v 0.01684523 0.01790035 0.02122419
+v 0.02447955 0.01036861 0.02122416
+v 0.02118410 0.01036861 0.02128377
+v 0.01684308 0.01761413 0.02975657
+v 0.01684308 0.01772619 0.02636598
+v 0.01684308 0.02060172 0.02122420
+v 0.02328920 0.01970833 0.02122419
+v 0.02759912 0.01036858 0.02975655
+v 0.02116909 0.01036861 0.02302006
+v 0.01684308 0.01756718 0.03144814
+v 0.01684308 0.02299570 0.02122420
+v 0.02328169 0.01974618 0.02122419
+v 0.02302003 0.02071680 0.02122420
+v 0.02749832 0.01124077 0.03144812
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+v 0.02034228 0.02210534 0.02122420
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+v 0.02688170 0.01293367 0.03144813
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+v 0.01684308 0.02139510 0.04019666
+v 0.01684308 0.01964617 0.03964707
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 14
+f 1 14 21
+f 1 21 42
+f 1 42 45
+f 1 45 23
+f 1 23 16
+f 1 16 15
+f 1 15 10
+f 1 10 5
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+f 103 120 104
+f 104 121 105
+f 104 120 122
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+f 105 123 106
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+f 110 112 113
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+f 111 129 112
+f 112 129 116
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+f 114 116 117
+f 114 117 115
+f 116 129 130
+f 116 130 117
+f 117 130 118
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+f 120 131 122
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+f 122 131 132
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+f 122 133 134
+f 122 134 124
+f 122 124 123
+f 124 134 135
+f 124 135 136
+f 126 137 127
+f 127 137 138
+f 127 138 139
+f 128 140 141
+f 128 141 129
+f 129 141 142
+f 129 142 130
+f 130 142 132
+f 130 132 131
+f 132 142 133
+f 133 142 143
+f 133 143 134
+f 134 143 135
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+f 136 145 137
+f 137 145 139
+f 137 139 138
+f 140 144 143
+f 140 143 142
+f 140 142 141
+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_69.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d2525e356d77c3d490dbdb15da2525699c826b1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_69.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.03233136 0.00004757 -0.02755218
+v -0.04258783 0.00004751 -0.01141010
+v -0.04260436 0.00108689 -0.01141010
+v -0.02926102 0.01059105 -0.02755214
+v -0.02417824 0.00004757 -0.02755218
+v -0.02923416 0.00004751 -0.01141010
+v -0.04213327 0.00227490 -0.01141009
+v -0.04195765 0.00211079 -0.01193467
+v -0.02149841 0.01059105 -0.02755214
+v -0.03016394 0.01059104 -0.02585988
+v -0.02156040 0.01059105 -0.02641923
+v -0.02157486 0.01059105 -0.02616484
+v -0.02158106 0.01059105 -0.02609215
+v -0.02171950 0.01059104 -0.02447099
+v -0.02424023 0.00004757 -0.02682851
+v -0.02860811 0.00004752 -0.01268048
+v -0.02559977 0.01059099 -0.01141006
+v -0.04191426 0.00255049 -0.01141009
+v -0.04128408 0.00315946 -0.01141009
+v -0.03041601 0.01059104 -0.02447257
+v -0.02197570 0.01059103 -0.02277399
+v -0.02449643 0.00004756 -0.02447103
+v -0.02441585 0.00004756 -0.02513466
+v -0.02430428 0.00004757 -0.02616488
+v -0.02785809 0.00004752 -0.01427004
+v -0.02981063 0.01059099 -0.01141006
+v -0.02702542 0.00004753 -0.01609029
+v -0.02679815 0.00004753 -0.01662752
+v -0.02629193 0.00004754 -0.01783786
+v -0.02608118 0.00004754 -0.01842249
+v -0.02573407 0.00004754 -0.01938950
+v -0.02458528 0.01059100 -0.01427316
+v -0.04047620 0.00378908 -0.01141009
+v -0.03144084 0.01058996 -0.01141006
+v -0.03130240 0.01059099 -0.01190620
+v -0.02236208 0.01059103 -0.02106118
+v -0.02489314 0.00004755 -0.02234424
+v -0.02481876 0.00004755 -0.02267606
+v -0.02470718 0.00004756 -0.02319117
+v -0.02552952 0.00004754 -0.02004997
+v -0.02285589 0.01059102 -0.01933731
+v -0.02399848 0.01059101 -0.01595910
+v -0.02521959 0.00004755 -0.02108176
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 5
+f 1 5 15
+f 1 15 24
+f 1 24 23
+f 1 23 22
+f 1 22 39
+f 1 39 38
+f 1 38 37
+f 1 37 43
+f 1 43 40
+f 1 40 31
+f 1 31 30
+f 1 30 29
+f 1 29 28
+f 1 28 27
+f 1 27 25
+f 1 25 16
+f 1 16 6
+f 1 6 2
+f 2 6 17
+f 2 17 26
+f 2 26 34
+f 2 34 33
+f 2 33 19
+f 2 19 18
+f 2 18 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 4 8 10
+f 4 10 20
+f 4 20 35
+f 4 35 26
+f 4 26 17
+f 4 17 32
+f 4 32 42
+f 4 42 41
+f 4 41 36
+f 4 36 21
+f 4 21 14
+f 4 14 13
+f 4 13 12
+f 4 12 11
+f 4 11 9
+f 5 9 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 6 16 17
+f 7 18 10
+f 7 10 8
+f 10 18 19
+f 10 19 20
+f 14 21 22
+f 14 22 23
+f 14 23 24
+f 14 24 15
+f 16 25 17
+f 17 25 27
+f 17 27 28
+f 17 28 29
+f 17 29 30
+f 17 30 31
+f 17 31 32
+f 19 33 20
+f 20 34 35
+f 20 33 34
+f 21 36 37
+f 21 37 38
+f 21 38 39
+f 21 39 22
+f 26 35 34
+f 31 40 41
+f 31 41 42
+f 31 42 32
+f 36 41 43
+f 36 43 37
+f 40 43 41
+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_7.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5afe9e710352eb6f9fc2f40063e2ce6f1dea1e55
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_7.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.01101365 -0.02169202 -0.02990424
+v 0.01101365 -0.01492071 -0.02990421
+v 0.01828559 -0.01810897 -0.02990423
+v 0.02134415 -0.01852553 -0.01328604
+v 0.02034938 -0.01879552 -0.01328604
+v 0.01101365 -0.02111413 -0.01328605
+v 0.01638311 -0.00783329 -0.02990419
+v 0.01101365 -0.01542680 -0.01938831
+v 0.01972461 -0.01738177 -0.02990422
+v 0.02150035 -0.01823656 -0.01328604
+v 0.02006773 -0.01718776 -0.02955445
+v 0.02117260 -0.01668851 -0.02690107
+v 0.02125198 -0.01676449 -0.02577204
+v 0.02172952 -0.01601829 -0.02626823
+v 0.02258730 -0.01436040 -0.02786090
+v 0.01101365 -0.01626526 -0.01328603
+v 0.02409290 -0.00783329 -0.02990419
+v 0.01101365 -0.01544715 -0.01900275
+v 0.01101365 -0.01552721 -0.01769477
+v 0.01696947 -0.00783332 -0.02108345
+v 0.02002676 -0.01716741 -0.02990422
+v 0.02181401 -0.01759755 -0.01328603
+v 0.02296242 -0.01345547 -0.02920141
+v 0.02108426 -0.01658947 -0.02786091
+v 0.02173592 -0.01574288 -0.02786091
+v 0.02252072 -0.01407820 -0.02968133
+v 0.01842898 -0.00783335 -0.01328600
+v 0.01808715 -0.00783335 -0.01441665
+v 0.01785670 -0.00783334 -0.01536673
+v 0.01771203 -0.00783334 -0.01599957
+v 0.01101365 -0.01618386 -0.01362278
+v 0.02364224 -0.01043002 -0.02990420
+v 0.02264491 -0.00783335 -0.01328600
+v 0.02203422 -0.01585961 -0.01328603
+v 0.02194460 -0.01687714 -0.01328603
+v 0.01101365 -0.01558283 -0.01717092
+v 0.01712438 -0.00783333 -0.01937527
+v 0.02087814 -0.01632626 -0.02990422
+v 0.02091910 -0.01638188 -0.02955445
+v 0.02297522 -0.01351382 -0.02786090
+v 0.02264619 -0.01381093 -0.02990421
+v 0.02291505 -0.01335779 -0.02990421
+v 0.02325048 -0.01236739 -0.02990421
+v 0.02158356 -0.01553530 -0.02955445
+v 0.02246183 -0.01409176 -0.02990421
+v 0.01737147 -0.00783333 -0.01771426
+v 0.01101365 -0.01601970 -0.01430443
+v 0.01101365 -0.01572122 -0.01599960
+v 0.01101365 -0.01585824 -0.01519919
+v 0.02140561 -0.01565469 -0.02990422
+v 0.02154132 -0.01547832 -0.02990422
+f 1 2 7
+f 1 7 17
+f 1 17 32
+f 1 32 43
+f 1 43 42
+f 1 42 41
+f 1 41 45
+f 1 45 51
+f 1 51 50
+f 1 50 38
+f 1 38 21
+f 1 21 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 16
+f 1 16 31
+f 1 31 47
+f 1 47 49
+f 1 49 48
+f 1 48 36
+f 1 36 19
+f 1 19 18
+f 1 18 8
+f 1 8 2
+f 2 8 7
+f 3 9 4
+f 4 10 22
+f 4 22 35
+f 4 35 34
+f 4 34 33
+f 4 33 27
+f 4 27 16
+f 4 16 6
+f 4 6 5
+f 4 9 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 10
+f 7 8 18
+f 7 18 19
+f 7 19 20
+f 7 20 37
+f 7 37 46
+f 7 46 30
+f 7 30 29
+f 7 29 28
+f 7 28 27
+f 7 27 33
+f 7 33 17
+f 9 21 11
+f 10 15 23
+f 10 23 22
+f 11 21 12
+f 12 14 13
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+f 12 24 25
+f 12 25 14
+f 14 25 15
+f 15 25 26
+f 15 26 23
+f 16 27 28
+f 16 28 29
+f 16 29 30
+f 16 30 31
+f 17 33 34
+f 17 34 35
+f 17 35 32
+f 19 36 20
+f 20 36 37
+f 21 38 39
+f 21 39 24
+f 22 23 40
+f 22 40 32
+f 22 32 35
+f 23 26 41
+f 23 41 42
+f 23 42 43
+f 23 43 40
+f 24 39 44
+f 24 44 25
+f 25 44 26
+f 26 44 45
+f 26 45 41
+f 30 46 47
+f 30 47 31
+f 32 40 43
+f 36 48 37
+f 37 48 49
+f 37 49 46
+f 38 50 39
+f 39 50 44
+f 44 50 51
+f 44 51 45
+f 46 49 47
+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_70.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd4c8aa308690143b3520d224efd3b6b9bc9be36
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_70.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.02693394 -0.00261801 -0.01160152
+v 0.02509919 -0.00261799 -0.01642033
+v 0.02584493 -0.00261801 -0.01159822
+v 0.02647321 -0.00299262 -0.01159822
+v 0.02341376 -0.00783200 -0.01159824
+v 0.02195324 -0.00783198 -0.01642035
+v 0.01972604 -0.00261799 -0.01642033
+v 0.02094708 -0.00261801 -0.01159822
+v 0.01899760 -0.00783200 -0.01159824
+v 0.01763268 -0.00783198 -0.01642035
+v 0.01977065 -0.00261799 -0.01616211
+v 0.02066845 -0.00261800 -0.01248522
+v 0.01867799 -0.00783199 -0.01245881
+v 0.01771281 -0.00783198 -0.01599880
+v 0.02018677 -0.00261800 -0.01429747
+v 0.02055373 -0.00261800 -0.01290252
+v 0.01808796 -0.00783199 -0.01441598
+v 0.01785759 -0.00783198 -0.01536576
+f 1 2 7
+f 1 7 11
+f 1 11 15
+f 1 15 16
+f 1 16 12
+f 1 12 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 10
+f 2 10 7
+f 3 8 9
+f 3 9 5
+f 3 5 4
+f 5 9 13
+f 5 13 17
+f 5 17 18
+f 5 18 14
+f 5 14 10
+f 5 10 6
+f 7 10 11
+f 8 12 13
+f 8 13 9
+f 10 14 11
+f 11 14 15
+f 12 16 17
+f 12 17 13
+f 14 18 15
+f 15 18 17
+f 15 17 16
+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_71.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e8111c60651239b88eae3acaed1e73d8e0e753f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_71.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.02522849 -0.02136139 0.02560460
+v -0.02522849 -0.01638325 0.02560462
+v -0.02522849 -0.02045598 0.01662132
+v -0.01080434 -0.03076867 0.01662129
+v -0.01080434 -0.02877399 0.02560457
+v -0.02522849 -0.01630277 0.02438562
+v -0.01080434 -0.02422698 0.02560459
+v -0.01080434 -0.02416087 0.02467055
+v -0.02522849 -0.01610011 0.01662134
+v -0.01080434 -0.02409905 0.01662131
+v -0.02522849 -0.01627978 0.02403118
+v -0.01080434 -0.02406602 0.02297574
+v -0.02522849 -0.01609149 0.01719829
+v -0.01080434 -0.02398122 0.01958788
+v -0.01080434 -0.02401427 0.01789307
+v -0.02522849 -0.01618636 0.02223787
+v -0.01080434 -0.02400135 0.02128181
+v -0.02522849 -0.01608862 0.01789310
+v -0.02522849 -0.01609293 0.01889574
+v -0.02522849 -0.01612743 0.02057472
+v -0.02522849 -0.01610587 0.01958791
+f 1 2 6
+f 1 6 11
+f 1 11 16
+f 1 16 20
+f 1 20 21
+f 1 21 19
+f 1 19 18
+f 1 18 13
+f 1 13 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 7
+f 1 7 2
+f 2 7 8
+f 2 8 6
+f 3 9 10
+f 3 10 4
+f 4 10 15
+f 4 15 14
+f 4 14 17
+f 4 17 12
+f 4 12 8
+f 4 8 7
+f 4 7 5
+f 6 8 11
+f 8 12 11
+f 9 13 14
+f 9 14 15
+f 9 15 10
+f 11 12 16
+f 12 17 16
+f 13 18 14
+f 14 18 19
+f 14 19 17
+f 16 17 20
+f 17 19 21
+f 17 21 20
+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_72.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efca795a0c031fb25e2f03ca05cc46b68abd22c9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_72.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.01404718 -0.01989755 0.02128156
+v 0.01404718 -0.01990790 0.02291783
+v 0.01404718 -0.01989755 0.02124706
+v -0.00002265 -0.02556678 0.02327562
+v 0.01404718 -0.01991179 0.02327564
+v 0.01404718 -0.01990012 0.01955264
+v -0.00002265 -0.02556677 0.02287247
+v -0.00002265 -0.03158021 0.02327559
+v 0.01404718 -0.02497281 0.02327562
+v 0.01404718 -0.01991824 0.01789371
+v -0.00002265 -0.02557712 0.02128154
+v -0.00002265 -0.03311620 0.01320665
+v 0.01404718 -0.02528981 0.01320668
+v 0.01404718 -0.01996999 0.01619830
+v -0.00002265 -0.02561334 0.01958712
+v -0.00002265 -0.02557841 0.02118100
+v -0.00002265 -0.02602094 0.01320667
+v 0.01404718 -0.02018609 0.01320670
+v 0.01404718 -0.01997905 0.01604256
+v -0.00002265 -0.02575826 0.01619828
+v -0.00002265 -0.02567804 0.01780695
+v -0.00002265 -0.02567416 0.01789369
+v -0.00002265 -0.02588507 0.01450582
+v 0.01404718 -0.02006963 0.01450388
+f 1 2 5
+f 1 5 9
+f 1 9 13
+f 1 13 18
+f 1 18 24
+f 1 24 19
+f 1 19 14
+f 1 14 10
+f 1 10 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 7 11
+f 4 11 16
+f 4 16 15
+f 4 15 22
+f 4 22 21
+f 4 21 20
+f 4 20 23
+f 4 23 17
+f 4 17 12
+f 4 12 8
+f 4 8 9
+f 4 9 5
+f 6 10 11
+f 6 11 7
+f 8 12 9
+f 9 12 13
+f 10 14 15
+f 10 15 16
+f 10 16 11
+f 12 17 18
+f 12 18 13
+f 14 19 20
+f 14 20 21
+f 14 21 22
+f 14 22 15
+f 17 23 18
+f 18 23 24
+f 19 24 20
+f 20 24 23
+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_73.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20148de30c19470dc05364f7af4471a8bd7698aa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_73.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v -0.01338586 0.02202424 -0.00918362
+v -0.00002265 0.02480834 -0.00918361
+v -0.00002265 0.02530666 -0.00752551
+v -0.01338586 0.02257808 -0.00739700
+v -0.01338586 0.02994728 -0.00918359
+v -0.00002265 0.03031018 -0.00918359
+v -0.00002265 0.02560727 -0.00659013
+v -0.01338586 0.02267287 -0.00710685
+v -0.01338586 0.03115785 -0.00242067
+v -0.00002265 0.03585670 -0.00241602
+v -0.00002395 0.03049841 -0.00918359
+v -0.00002265 0.03049841 -0.00918227
+v -0.00002265 0.02704806 -0.00241605
+v -0.01338586 0.02311024 -0.00583628
+v -0.01205163 0.03130952 -0.00241603
+v -0.01338586 0.03039277 -0.00241604
+v -0.01338586 0.02453884 -0.00241606
+v -0.01338586 0.02451176 -0.00247501
+v -0.01338586 0.02376835 -0.00416690
+v -0.01338586 0.02324024 -0.00550041
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 14
+f 1 14 20
+f 1 20 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 9
+f 1 9 5
+f 1 5 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 10
+f 2 10 13
+f 2 13 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 5 9 10
+f 5 10 11
+f 6 11 12
+f 7 13 14
+f 7 14 8
+f 9 15 10
+f 9 16 15
+f 10 12 11
+f 10 15 16
+f 10 16 17
+f 10 17 13
+f 13 17 18
+f 13 18 19
+f 13 19 20
+f 13 20 14
+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_74.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e85f9ef53b838a63e9b6381fd971428dcf582e2f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_74.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.02513850 -0.01037218 -0.02739178
+v -0.02256896 -0.01830085 -0.02739181
+v -0.02642252 -0.01830089 -0.01552686
+v -0.02846794 -0.01037222 -0.01552683
+v -0.02095906 -0.01037218 -0.02739178
+v -0.01312579 -0.01830085 -0.02739181
+v -0.01896620 -0.01830089 -0.01552686
+v -0.02382295 -0.01037222 -0.01552683
+v -0.02105217 -0.01037218 -0.02616521
+v -0.02118432 -0.01037219 -0.02478881
+v -0.02124139 -0.01037219 -0.02430910
+v -0.02140959 -0.01037219 -0.02326257
+v -0.02148768 -0.01037220 -0.02277705
+v -0.02185712 -0.01037220 -0.02102315
+v -0.02230164 -0.01037221 -0.01940399
+v -0.01329699 -0.01830085 -0.02681802
+v -0.01527033 -0.01830087 -0.02208714
+v -0.02361119 -0.01037222 -0.01596240
+v -0.01502704 -0.01830087 -0.02255755
+v -0.01351925 -0.01830085 -0.02616524
+v -0.02282276 -0.01037221 -0.01787775
+v -0.02327780 -0.01037222 -0.01673249
+v -0.01465309 -0.01830086 -0.02336365
+v -0.01416352 -0.01830086 -0.02447174
+v -0.01374752 -0.01830086 -0.02551363
+v -0.02304052 -0.01037222 -0.01730280
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 18
+f 1 18 22
+f 1 22 26
+f 1 26 21
+f 1 21 15
+f 1 15 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 16
+f 2 16 20
+f 2 20 25
+f 2 25 24
+f 2 24 23
+f 2 23 19
+f 2 19 17
+f 2 17 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 5 9 6
+f 6 9 10
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 7 17 8
+f 8 17 19
+f 8 19 18
+f 15 20 16
+f 15 21 20
+f 18 19 23
+f 18 23 24
+f 18 24 22
+f 20 21 25
+f 21 26 25
+f 22 24 26
+f 24 25 26
+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_75.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2c02f5e452c5d55456d08515ad77ed178951036
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_75.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.01030181 -0.02364750 -0.00192840
+v -0.01030181 -0.02361493 -0.00207024
+v -0.01030181 -0.02713117 -0.00192841
+v -0.00002265 -0.02611997 -0.00192841
+v -0.00002265 -0.02330103 -0.00958384
+v -0.00002265 -0.02327290 -0.00966530
+v -0.00002265 -0.02284947 -0.01091381
+v -0.00002265 -0.02236237 -0.01260613
+v -0.01030181 -0.02353054 -0.00244241
+v -0.01030181 -0.03123663 -0.01075655
+v -0.00947372 -0.03195468 -0.01005997
+v -0.00115460 -0.03551092 -0.00192844
+v -0.00002265 -0.03612978 -0.00192844
+v -0.00002265 -0.02196115 -0.01437709
+v -0.01030181 -0.02323444 -0.00394513
+v -0.01030181 -0.03124403 -0.01077902
+v -0.01030181 -0.03126919 -0.01259633
+v -0.00947372 -0.03195468 -0.01015828
+v -0.00152689 -0.03559826 -0.00413758
+v -0.00125019 -0.03557014 -0.00244245
+v -0.00094230 -0.03568118 -0.00192844
+v -0.00007799 -0.03610461 -0.00192844
+v -0.00002265 -0.03616679 -0.00236661
+v -0.00002265 -0.02179828 -0.01523097
+v -0.01030181 -0.02320927 -0.00407434
+v -0.00484428 -0.03374316 -0.00850810
+v -0.00140414 -0.03547390 -0.00531588
+v -0.00502740 -0.03391046 -0.00752641
+v -0.01030181 -0.03061480 -0.01396142
+v -0.00010012 -0.03599356 -0.00413758
+v -0.00010012 -0.03613718 -0.00244245
+v -0.00013836 -0.03607648 -0.00192844
+v -0.00002265 -0.03601874 -0.00406174
+v -0.00002265 -0.02167392 -0.01602306
+v -0.01030181 -0.02104173 -0.01627585
+v -0.00010012 -0.03558346 -0.00549003
+v -0.01030181 -0.03060887 -0.01396984
+v -0.00002265 -0.02829481 -0.01627587
+v -0.00002265 -0.03509193 -0.00634110
+v -0.00002265 -0.03558642 -0.00549283
+v -0.00002265 -0.03600097 -0.00413758
+v -0.00002265 -0.03561011 -0.00542964
+v -0.00002265 -0.02164135 -0.01627585
+v -0.01030181 -0.02802832 -0.01627587
+v -0.01030181 -0.02961100 -0.01490799
+v -0.01030181 -0.02938299 -0.01511444
+f 1 2 9
+f 1 9 15
+f 1 15 25
+f 1 25 35
+f 1 35 44
+f 1 44 46
+f 1 46 45
+f 1 45 37
+f 1 37 29
+f 1 29 17
+f 1 17 16
+f 1 16 10
+f 1 10 3
+f 1 3 12
+f 1 12 21
+f 1 21 32
+f 1 32 22
+f 1 22 13
+f 1 13 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 9
+f 3 10 11
+f 3 11 12
+f 4 13 23
+f 4 23 33
+f 4 33 41
+f 4 41 42
+f 4 42 40
+f 4 40 39
+f 4 39 38
+f 4 38 43
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+f 4 34 24
+f 4 24 14
+f 4 14 8
+f 4 8 7
+f 4 7 6
+f 4 6 5
+f 8 14 9
+f 9 14 15
+f 10 16 11
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 12
+f 13 22 23
+f 14 24 25
+f 14 25 15
+f 17 26 27
+f 17 27 28
+f 17 28 18
+f 17 29 26
+f 18 28 19
+f 19 28 27
+f 19 27 30
+f 19 30 23
+f 19 23 31
+f 19 31 32
+f 19 32 21
+f 19 21 20
+f 22 32 31
+f 22 31 23
+f 23 30 33
+f 24 34 35
+f 24 35 25
+f 26 36 27
+f 26 29 36
+f 27 36 30
+f 29 37 38
+f 29 38 39
+f 29 39 40
+f 29 40 36
+f 30 41 33
+f 30 36 42
+f 30 42 41
+f 34 43 35
+f 35 43 38
+f 35 38 44
+f 36 40 42
+f 37 45 38
+f 38 45 46
+f 38 46 44
+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_76.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42b140f1d752137425783a4abe2470aa94295971
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_76.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
+v 0.05440944 0.00505506 0.00847183
+v 0.05440944 0.00509673 0.00264253
+v 0.05270683 0.00513073 -0.00195396
+v 0.05365860 0.00490161 0.00847183
+v 0.05536217 0.00482598 0.00847183
+v 0.05611206 0.00467473 0.00603071
+v 0.05440944 0.00510003 0.00094742
+v 0.05440944 0.00505838 -0.00074666
+v 0.05440944 0.00496522 -0.00195396
+v 0.05100326 0.00477012 -0.00195396
+v 0.05270683 0.00468787 0.00847183
+v 0.05611206 0.00461553 0.00847183
+v 0.05611206 0.00464622 0.00772479
+v 0.05721188 0.00392939 0.00603070
+v 0.05611206 0.00466815 0.00433560
+v 0.05611206 0.00461007 0.00264253
+v 0.05611206 0.00445882 0.00094742
+v 0.05591497 0.00414426 -0.00195396
+v 0.04945639 0.00400067 -0.00195397
+v 0.05212616 0.00437658 0.00847183
+v 0.05671484 0.00420231 0.00847183
+v 0.05718880 0.00390637 0.00772478
+v 0.05720899 0.00392282 0.00433559
+v 0.05765700 0.00277084 0.00603070
+v 0.05765604 0.00277084 0.00433559
+v 0.05716477 0.00387241 0.00264252
+v 0.05706382 0.00374746 0.00094741
+v 0.05621300 0.00415630 -0.00063951
+v 0.05698595 0.00364772 -0.00000270
+v 0.05619281 0.00379899 -0.00195397
+v 0.04875074 0.00312709 -0.00195397
+v 0.05141473 0.00398638 0.00847182
+v 0.05716669 0.00388006 0.00847182
+v 0.05760605 0.00277083 0.00772478
+v 0.05786562 0.00107630 0.00603069
+v 0.05787235 0.00107630 0.00433558
+v 0.05779832 0.00107631 0.00264251
+v 0.05757336 0.00277085 0.00264252
+v 0.05737531 0.00277086 0.00094741
+v 0.05710132 0.00270509 -0.00063952
+v 0.05684751 0.00322573 -0.00113244
+v 0.05670811 0.00287609 -0.00195397
+v 0.04871132 0.00305914 -0.00195397
+v 0.05052930 0.00273466 0.00847182
+v 0.05756182 0.00277083 0.00847182
+v 0.05780986 0.00107629 0.00772477
+v 0.05787619 -0.00061605 0.00603069
+v 0.05788388 -0.00061605 0.00433558
+v 0.05781370 -0.00061604 0.00264251
+v 0.05760797 0.00107632 0.00094740
+v 0.05762623 -0.00061603 0.00094740
+v 0.05700518 0.00209678 -0.00173251
+v 0.05687539 0.00231161 -0.00195397
+v 0.04833446 0.00222502 -0.00195397
+v 0.05015436 0.00188739 0.00847182
+v 0.05776563 0.00107629 0.00847181
+v 0.05777044 0.00033096 0.00847181
+v 0.05781947 -0.00061606 0.00772477
+v 0.05780120 -0.00230950 0.00772476
+v 0.05785601 -0.00230949 0.00603068
+v 0.05785985 -0.00230949 0.00433557
+v 0.05778005 -0.00230948 0.00264250
+v 0.05729263 0.00107632 -0.00074668
+v 0.05731186 -0.00061603 -0.00074668
+v 0.05758874 -0.00230947 0.00094739
+v 0.05703499 0.00107633 -0.00183661
+v 0.05700037 0.00107633 -0.00195398
+v 0.04817679 0.00156737 -0.00195397
+v 0.05009379 0.00151582 0.00847182
+v 0.05777525 -0.00061606 0.00847181
+v 0.05776756 -0.00136249 0.00847180
+v 0.05775698 -0.00230950 0.00847180
+v 0.05764450 -0.00305593 0.00847180
+v 0.05749837 -0.00400404 0.00847180
+v 0.05753971 -0.00400404 0.00772476
+v 0.05758490 -0.00400403 0.00603068
+v 0.05757336 -0.00400403 0.00433557
+v 0.05747433 -0.00400402 0.00264250
+v 0.05704364 -0.00061602 -0.00186927
+v 0.05726956 -0.00230947 -0.00074669
+v 0.05702056 -0.00230946 -0.00179274
+v 0.05709651 -0.00355900 -0.00074669
+v 0.05698788 -0.00323126 -0.00167640
+v 0.05722918 -0.00411142 0.00092595
+v 0.05701864 -0.00061602 -0.00195398
+v 0.04812680 0.00107633 -0.00195398
+v 0.05006495 0.00108067 0.00847181
+v 0.05733974 -0.00444137 0.00847179
+v 0.05710997 -0.00502558 0.00847179
+v 0.05712920 -0.00504641 0.00772475
+v 0.05714747 -0.00506394 0.00603067
+v 0.05713785 -0.00505078 0.00433556
+v 0.05708113 -0.00498610 0.00264249
+v 0.05701287 -0.00490828 0.00147704
+v 0.05697441 -0.00230946 -0.00195399
+v 0.05691481 -0.00474824 0.00034731
+v 0.05677541 -0.00440627 -0.00074670
+v 0.05658794 -0.00400180 -0.00195399
+v 0.05679079 -0.00350967 -0.00195399
+v 0.05692635 -0.00296601 -0.00195399
+v 0.04806335 -0.00061602 -0.00195398
+v 0.05000150 -0.00061606 0.00847181
+v 0.05611206 -0.00565802 0.00847179
+v 0.05611206 -0.00568213 0.00772475
+v 0.05611206 -0.00569966 0.00603067
+v 0.05611206 -0.00567774 0.00433556
+v 0.05611206 -0.00559443 0.00264249
+v 0.05625338 -0.00534013 0.00092595
+v 0.05592362 -0.00534670 -0.00074670
+v 0.05574769 -0.00524695 -0.00195400
+v 0.04816237 -0.00243222 -0.00195399
+v 0.05002746 -0.00138002 0.00847180
+v 0.05440944 -0.00606686 0.00847179
+v 0.05440944 -0.00606466 0.00433556
+v 0.05440944 -0.00606136 0.00264249
+v 0.05440944 -0.00603943 0.00094738
+v 0.05440944 -0.00597585 -0.00074670
+v 0.05440944 -0.00586624 -0.00195400
+v 0.05484495 -0.00568538 -0.00195400
+v 0.04822582 -0.00274899 -0.00195399
+v 0.05017263 -0.00294413 0.00847180
+v 0.05007072 -0.00216372 0.00847180
+v 0.05149357 -0.00578951 -0.00195400
+v 0.05270683 -0.00601530 -0.00195400
+v 0.05270683 -0.00568542 0.00847179
+v 0.05319618 -0.00601530 -0.00195400
+v 0.04836138 -0.00324551 -0.00195399
+v 0.05030722 -0.00323021 0.00847180
+v 0.05095904 -0.00561304 -0.00195400
+v 0.05153587 -0.00510231 0.00847179
+v 0.04996689 -0.00519653 -0.00195400
+v 0.05065812 -0.00395471 0.00847180
+v 0.04888725 -0.00412895 -0.00195400
+v 0.05109652 -0.00453783 0.00847179
+v 0.04976404 -0.00509240 -0.00195400
+f 1 2 3
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+f 1 20 32
+f 1 32 44
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diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_77.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..003dfaf7a291c5d652905284e3905832eff94b6f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_77.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_78.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6eb8136f3f86e635ae70a74947c2d937a713a5dc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_78.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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+f 91 105 92
+f 91 95 105
+f 92 103 102
+f 92 105 106
+f 92 106 104
+f 92 104 103
+f 94 99 107
+f 94 107 95
+f 95 107 105
+f 96 108 97
+f 97 108 109
+f 97 109 110
+f 98 104 99
+f 99 104 107
+f 100 111 112
+f 100 112 113
+f 100 113 114
+f 100 114 101
+f 104 106 107
+f 105 107 106
+f 109 115 110
+f 110 115 116
+f 110 116 117
+f 111 117 116
+f 111 116 112
+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_79.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24159b32e228d4961f904816a74ae6f27bcbf9d0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_79.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.03436380 -0.00783203 -0.00196406
+v 0.03417869 -0.00783203 -0.00242059
+v 0.03371093 -0.00783203 -0.00190820
+v 0.03437972 -0.00783559 -0.00190820
+v 0.03436181 -0.00789069 -0.00190820
+v 0.03336857 -0.01046992 -0.00194427
+v 0.03362136 -0.00903721 -0.00248254
+v 0.03323123 -0.00843996 -0.00337934
+v 0.03338250 -0.00783203 -0.00351696
+v 0.02231555 -0.00783203 -0.00190820
+v 0.03337454 -0.01048592 -0.00190821
+v 0.03182398 -0.01288384 -0.00190822
+v 0.02345409 -0.01925636 -0.00709608
+v 0.02388204 -0.01801562 -0.00709608
+v 0.02695730 -0.00783201 -0.00709604
+v 0.02077692 -0.00783201 -0.00709604
+v 0.01404718 -0.01649759 -0.00709607
+v 0.01404718 -0.01713219 -0.00583212
+v 0.01404718 -0.01809562 -0.00413603
+v 0.01404718 -0.01846892 -0.00349364
+v 0.01404718 -0.01901641 -0.00256688
+v 0.01404718 -0.01942169 -0.00190824
+v 0.02770571 -0.01871067 -0.00190824
+v 0.02453889 -0.02000827 -0.00492873
+v 0.02312168 -0.01965808 -0.00709608
+v 0.01404718 -0.02194935 -0.00709609
+v 0.01404718 -0.02599153 -0.00190827
+v 0.02655125 -0.02034246 -0.00190824
+v 0.02654925 -0.02034246 -0.00191129
+v 0.02294851 -0.02012559 -0.00675787
+v 0.02267582 -0.02003670 -0.00709608
+v 0.02437368 -0.02170762 -0.00190825
+v 0.02550227 -0.02111570 -0.00190825
+v 0.02497082 -0.02039934 -0.00379935
+v 0.02492504 -0.02145521 -0.00190825
+f 1 2 9
+f 1 9 15
+f 1 15 16
+f 1 16 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 9
+f 2 6 7
+f 3 10 22
+f 3 22 27
+f 3 27 32
+f 3 32 35
+f 3 35 33
+f 3 33 28
+f 3 28 23
+f 3 23 12
+f 3 12 11
+f 3 11 5
+f 3 5 4
+f 5 11 6
+f 6 8 7
+f 6 11 12
+f 6 12 13
+f 6 13 8
+f 8 13 9
+f 9 13 14
+f 9 14 15
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 12 23 24
+f 12 24 13
+f 13 24 25
+f 13 25 31
+f 13 31 26
+f 13 26 17
+f 13 17 16
+f 13 16 15
+f 13 15 14
+f 17 26 27
+f 17 27 22
+f 17 22 21
+f 17 21 20
+f 17 20 19
+f 17 19 18
+f 23 28 29
+f 23 29 24
+f 24 29 30
+f 24 30 25
+f 25 30 31
+f 26 31 27
+f 27 31 30
+f 27 30 32
+f 28 33 29
+f 29 33 34
+f 29 34 30
+f 30 34 33
+f 30 33 35
+f 30 35 32
+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_8.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98a796019298b7237dabd586c93f7efc8b7a0981
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_8.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.01101365 -0.01626723 -0.01328603
+v 0.01101365 -0.02111546 -0.01328605
+v 0.01101365 -0.01618562 -0.01362278
+v -0.00002265 -0.02220968 -0.01328605
+v 0.00471877 -0.03112170 -0.01328608
+v 0.01101365 -0.02169332 -0.02990424
+v 0.01101365 -0.01602073 -0.01430443
+v -0.00002265 -0.02196153 -0.01437766
+v -0.00002265 -0.02940459 -0.01328608
+v 0.00338352 -0.03192447 -0.01328609
+v 0.00672488 -0.02723440 -0.02990426
+v 0.00740006 -0.02663482 -0.02990426
+v 0.00826430 -0.02550396 -0.02990425
+v 0.01101365 -0.01492145 -0.02990421
+v 0.01101365 -0.01585917 -0.01519919
+v -0.00002265 -0.02179830 -0.01523175
+v 0.00164641 -0.03108007 -0.01328608
+v -0.00002265 -0.02664815 -0.02990426
+v 0.00330790 -0.03193613 -0.01328609
+v 0.00442169 -0.02866173 -0.02746726
+v 0.00501153 -0.02805881 -0.02955449
+v 0.00654879 -0.02731268 -0.02990426
+v -0.00002265 -0.02004782 -0.02990423
+v 0.01101365 -0.01542780 -0.01938831
+v 0.01101365 -0.01572260 -0.01599960
+v -0.00002265 -0.02167339 -0.01602402
+v 0.00004325 -0.02669811 -0.02990426
+v 0.00050130 -0.02703953 -0.02990426
+v 0.00133312 -0.02757083 -0.02990426
+v 0.00330790 -0.02824202 -0.02955449
+v 0.00240586 -0.02859678 -0.02719232
+v 0.00295573 -0.02811544 -0.02990426
+v 0.00330790 -0.02816207 -0.02990426
+v 0.00465935 -0.02801717 -0.02990426
+v 0.00501153 -0.02796721 -0.02990426
+v -0.00002265 -0.02145021 -0.01769479
+v 0.01101365 -0.01558436 -0.01717092
+v 0.01101365 -0.01552940 -0.01769477
+v 0.01101365 -0.01544779 -0.01900275
+v 0.00160428 -0.02767742 -0.02990426
+f 1 2 6
+f 1 6 14
+f 1 14 24
+f 1 24 39
+f 1 39 38
+f 1 38 37
+f 1 37 25
+f 1 25 15
+f 1 15 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 17
+f 1 17 19
+f 1 19 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 8 16
+f 4 16 26
+f 4 26 36
+f 4 36 23
+f 4 23 18
+f 4 18 9
+f 4 7 8
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 13 12
+f 6 12 11
+f 6 11 22
+f 6 22 35
+f 6 35 34
+f 6 34 33
+f 6 33 32
+f 6 32 40
+f 6 40 29
+f 6 29 28
+f 6 28 27
+f 6 27 18
+f 6 18 23
+f 6 23 14
+f 7 15 16
+f 7 16 8
+f 9 18 17
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 11
+f 14 23 24
+f 15 25 16
+f 16 25 26
+f 17 18 27
+f 17 27 28
+f 17 28 29
+f 17 29 19
+f 19 30 20
+f 19 29 31
+f 19 31 32
+f 19 32 30
+f 20 30 33
+f 20 33 34
+f 20 34 21
+f 21 34 35
+f 21 35 22
+f 23 36 37
+f 23 37 38
+f 23 38 39
+f 23 39 24
+f 25 37 36
+f 25 36 26
+f 29 40 31
+f 30 32 33
+f 31 40 32
+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_80.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43f128321f4db26b6bd9112c2cdaaed4d94ac89a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_80.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.01030134 -0.02802809 -0.01627587
+v -0.00543826 -0.02612144 -0.01627587
+v -0.01030134 -0.02104187 -0.01627585
+v -0.01030134 -0.02412692 -0.02739183
+v -0.00543826 -0.02396150 -0.02739183
+v -0.00543826 -0.02162768 -0.01627585
+v -0.01030134 -0.02076474 -0.01769364
+v -0.01030134 -0.01931680 -0.02739181
+v -0.00543826 -0.02033408 -0.02739181
+v -0.00543826 -0.02137016 -0.01769364
+v -0.01030134 -0.02044070 -0.01938889
+v -0.01030134 -0.01944129 -0.02616444
+v -0.00543826 -0.02070673 -0.02277613
+v -0.00543826 -0.02055835 -0.02447138
+v -0.00543826 -0.02111092 -0.01938889
+v -0.01030134 -0.01986596 -0.02270430
+v -0.01030134 -0.02014736 -0.02102973
+v -0.01030134 -0.01962549 -0.02448551
+v -0.00543826 -0.02089006 -0.02108305
+v -0.01030134 -0.01962719 -0.02447137
+v -0.01030134 -0.01966642 -0.02418085
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 11
+f 1 11 17
+f 1 17 16
+f 1 16 21
+f 1 21 20
+f 1 20 18
+f 1 18 12
+f 1 12 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 14
+f 2 14 13
+f 2 13 19
+f 2 19 15
+f 2 15 10
+f 2 10 6
+f 3 6 7
+f 4 8 9
+f 4 9 5
+f 6 10 11
+f 6 11 7
+f 8 12 13
+f 8 13 14
+f 8 14 9
+f 10 15 16
+f 10 16 17
+f 10 17 11
+f 12 18 19
+f 12 19 13
+f 15 19 20
+f 15 20 21
+f 15 21 16
+f 18 20 19
+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_81.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78241185eaec4d208101bc3686b3640d756b86f0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_81.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.02087457 0.01826541 -0.01938532
+v -0.02087457 0.02003100 -0.01938532
+v -0.01488345 0.01826541 -0.01938532
+v -0.02087457 0.01826536 -0.00655374
+v -0.01338586 0.02927159 -0.01430580
+v -0.01338586 0.02819256 -0.01584726
+v -0.01338586 0.02554987 -0.01938530
+v -0.02087457 0.03003761 -0.00241770
+v -0.01338586 0.01923466 -0.01938532
+v -0.01505205 0.01826541 -0.01893019
+v -0.02029180 0.01826537 -0.00756864
+v -0.01338586 0.02311031 -0.00583782
+v -0.01338586 0.02324030 -0.00550062
+v -0.01338586 0.02376909 -0.00416680
+v -0.01338586 0.02452252 -0.00245260
+v -0.02087457 0.01859854 -0.00583285
+v -0.01338586 0.02942682 -0.01400681
+v -0.02087457 0.02039188 -0.00241774
+v -0.02055863 0.03023322 -0.00241770
+v -0.01338586 0.01963598 -0.01771763
+v -0.01551313 0.01826541 -0.01772261
+v -0.01338586 0.02257774 -0.00739754
+v -0.01338586 0.02267366 -0.00710852
+v -0.01856843 0.01826538 -0.01095385
+v -0.01338586 0.02453892 -0.00241772
+v -0.02087457 0.01940624 -0.00415519
+v -0.01338586 0.02967292 -0.01302348
+v -0.02054763 0.03023827 -0.00241770
+v -0.01937037 0.03067494 -0.00241770
+v -0.01338586 0.02012312 -0.01589380
+v -0.01624177 0.01826540 -0.01596855
+v -0.01338586 0.02200604 -0.00923798
+v -0.01778628 0.01826539 -0.01260825
+v -0.01338586 0.03039224 -0.00241770
+v -0.01338586 0.02995182 -0.01125280
+v -0.01883599 0.03076580 -0.00241770
+v -0.01338586 0.02119078 -0.01207339
+v -0.01656064 0.01826540 -0.01525264
+v -0.01702026 0.01826539 -0.01425103
+v -0.01338586 0.02162492 -0.01054689
+v -0.01365708 0.03112927 -0.00241770
+v -0.01338586 0.03115703 -0.00242102
+v -0.01826935 0.03082259 -0.00241770
+v -0.01713314 0.03090463 -0.00241770
+v -0.01338586 0.02152017 -0.01091398
+f 1 2 7
+f 1 7 9
+f 1 9 3
+f 1 3 10
+f 1 10 21
+f 1 21 31
+f 1 31 38
+f 1 38 39
+f 1 39 33
+f 1 33 24
+f 1 24 11
+f 1 11 4
+f 1 4 16
+f 1 16 26
+f 1 26 18
+f 1 18 8
+f 1 8 2
+f 2 5 6
+f 2 6 7
+f 2 8 5
+f 3 9 10
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 5 17 27
+f 5 27 35
+f 5 35 42
+f 5 42 34
+f 5 34 25
+f 5 25 15
+f 5 15 14
+f 5 14 13
+f 5 13 12
+f 5 12 23
+f 5 23 22
+f 5 22 32
+f 5 32 40
+f 5 40 45
+f 5 45 37
+f 5 37 30
+f 5 30 20
+f 5 20 9
+f 5 9 7
+f 5 7 6
+f 5 8 17
+f 8 18 25
+f 8 25 34
+f 8 34 41
+f 8 41 44
+f 8 44 43
+f 8 43 36
+f 8 36 29
+f 8 29 28
+f 8 28 19
+f 8 19 17
+f 9 20 10
+f 10 20 21
+f 11 22 23
+f 11 23 12
+f 11 24 22
+f 15 25 16
+f 16 25 26
+f 17 19 28
+f 17 28 29
+f 17 29 27
+f 18 26 25
+f 20 30 21
+f 21 30 31
+f 22 24 32
+f 24 33 32
+f 27 29 36
+f 27 36 35
+f 30 37 31
+f 31 37 38
+f 32 33 39
+f 32 39 40
+f 34 42 41
+f 35 36 43
+f 35 43 44
+f 35 44 42
+f 37 45 38
+f 38 45 40
+f 38 40 39
+f 41 42 44
+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_82.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..879910e0bb192b81a019b278bc061c633416289a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_82.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.01404718 -0.02194965 -0.00709609
+v 0.01404718 -0.01962249 -0.01328543
+v 0.02035114 -0.01879610 -0.01328543
+v 0.02267405 -0.02003708 -0.00709608
+v 0.01404718 -0.01649662 -0.00709607
+v 0.01404718 -0.01383503 -0.01328541
+v 0.02134324 -0.01852663 -0.01328543
+v 0.02312018 -0.01965706 -0.00709608
+v 0.01404718 -0.01627689 -0.00751415
+v 0.02077452 -0.00783339 -0.00709604
+v 0.02059885 -0.00783339 -0.00752018
+v 0.01843012 -0.00783337 -0.01328539
+v 0.01404718 -0.01404093 -0.01268011
+v 0.02149996 -0.01823643 -0.01328543
+v 0.02345257 -0.01925630 -0.00709608
+v 0.01404718 -0.01539661 -0.00925916
+v 0.01985698 -0.00783339 -0.00934638
+v 0.02695842 -0.00783339 -0.00709604
+v 0.01846677 -0.00783337 -0.01316057
+v 0.02264498 -0.00783337 -0.01328539
+v 0.01404718 -0.01472499 -0.01092782
+v 0.02181465 -0.01759798 -0.01328542
+v 0.02387974 -0.01801672 -0.00709608
+v 0.01925035 -0.00783338 -0.01091447
+v 0.01867783 -0.00783337 -0.01245832
+v 0.02194482 -0.01687801 -0.01328542
+v 0.02203455 -0.01585954 -0.01328542
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 15
+f 1 15 23
+f 1 23 18
+f 1 18 10
+f 1 10 5
+f 1 5 9
+f 1 9 16
+f 1 16 21
+f 1 21 13
+f 1 13 6
+f 1 6 2
+f 2 6 12
+f 2 12 20
+f 2 20 27
+f 2 27 26
+f 2 26 22
+f 2 22 14
+f 2 14 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 5 10 11
+f 5 11 9
+f 6 13 12
+f 7 14 15
+f 7 15 8
+f 9 11 17
+f 9 17 16
+f 10 18 20
+f 10 20 12
+f 10 12 19
+f 10 19 25
+f 10 25 24
+f 10 24 17
+f 10 17 11
+f 12 13 21
+f 12 21 19
+f 14 22 15
+f 15 22 23
+f 16 17 24
+f 16 24 25
+f 16 25 19
+f 16 19 21
+f 18 23 22
+f 18 22 26
+f 18 26 27
+f 18 27 20
+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_83.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19f1fc9cc8f501d6cbd8284e15d094f73fad66bd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_83.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.01030341 -0.02364634 -0.00192840
+v -0.01030341 -0.02435017 -0.00192840
+v -0.01030341 -0.02352894 -0.00244435
+v -0.02504505 -0.01830154 -0.00192838
+v -0.01030660 -0.02435847 -0.00192840
+v -0.01030341 -0.02435847 -0.00302510
+v -0.01030341 -0.02323365 -0.00394483
+v -0.02662885 -0.01830154 -0.00192838
+v -0.01030341 -0.02320875 -0.00407445
+v -0.01030341 -0.02319747 -0.00413427
+v -0.01030341 -0.02044023 -0.01938589
+v -0.01030341 -0.02014730 -0.02102844
+v -0.01030341 -0.01986625 -0.02270341
+v -0.01502604 -0.01830147 -0.02255635
+v -0.01977424 -0.02435847 -0.00192840
+v -0.01030341 -0.02435840 -0.02280064
+v -0.02662885 -0.02376078 -0.00192840
+v -0.02662885 -0.01830149 -0.01524583
+v -0.01030341 -0.01962728 -0.02447059
+v -0.01374749 -0.01830146 -0.02551246
+v -0.01416462 -0.01830146 -0.02447059
+v -0.01465366 -0.01830146 -0.02336392
+v -0.02662885 -0.02435844 -0.01203301
+v -0.01134223 -0.02435838 -0.02739183
+v -0.01030341 -0.02412654 -0.02739183
+v -0.02256946 -0.01830145 -0.02739181
+v -0.02662885 -0.02263532 -0.01586149
+v -0.01030341 -0.01962550 -0.02448555
+v -0.01329680 -0.01830145 -0.02681604
+v -0.01352055 -0.01830145 -0.02616550
+v -0.02662885 -0.02435843 -0.01429372
+v -0.02114868 -0.02435838 -0.02739183
+v -0.01030341 -0.01931716 -0.02739181
+v -0.01312580 -0.01830145 -0.02739181
+v -0.02239686 -0.02094183 -0.02739182
+v -0.02662885 -0.02389711 -0.01558982
+v -0.01030341 -0.01944168 -0.02616301
+v -0.02593843 -0.02435842 -0.01604096
+v -0.02148749 -0.02410045 -0.02739183
+v -0.02136763 -0.02435838 -0.02702294
+v -0.02219549 -0.02263528 -0.02739182
+v -0.02169046 -0.02386565 -0.02739183
+f 1 2 6
+f 1 6 16
+f 1 16 25
+f 1 25 33
+f 1 33 37
+f 1 37 28
+f 1 28 19
+f 1 19 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 9
+f 1 9 7
+f 1 7 3
+f 1 3 4
+f 1 4 8
+f 1 8 17
+f 1 17 15
+f 1 15 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 7 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 22
+f 4 22 21
+f 4 21 20
+f 4 20 30
+f 4 30 29
+f 4 29 34
+f 4 34 26
+f 4 26 18
+f 4 18 8
+f 5 15 23
+f 5 23 31
+f 5 31 38
+f 5 38 40
+f 5 40 32
+f 5 32 24
+f 5 24 16
+f 5 16 6
+f 8 18 27
+f 8 27 36
+f 8 36 31
+f 8 31 23
+f 8 23 17
+f 13 19 20
+f 13 20 21
+f 13 21 22
+f 13 22 14
+f 15 17 23
+f 16 24 25
+f 18 26 27
+f 19 28 29
+f 19 29 30
+f 19 30 20
+f 24 32 39
+f 24 39 42
+f 24 42 41
+f 24 41 35
+f 24 35 26
+f 24 26 34
+f 24 34 33
+f 24 33 25
+f 26 35 27
+f 27 35 36
+f 28 37 29
+f 29 37 34
+f 31 36 38
+f 32 40 39
+f 33 34 37
+f 35 41 36
+f 36 41 42
+f 36 42 39
+f 36 39 40
+f 36 40 38
+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_84.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b40250b8c7339f558dabd6d2d081542a8908aeef
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_84.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01783274 -0.02435846 -0.00679960
+v -0.01977552 -0.02435847 -0.00192887
+v -0.01030274 -0.02435846 -0.00679960
+v -0.01030274 -0.02758955 -0.00679961
+v -0.01030274 -0.02713065 -0.00192888
+v -0.01030645 -0.02435847 -0.00192887
+v -0.01030274 -0.02435847 -0.00302413
+v -0.01030274 -0.02569601 -0.00192887
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 2 5 8
+f 2 8 6
+f 3 7 8
+f 3 8 5
+f 3 5 4
+f 6 8 7
+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_85.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7d21fc95e83cb6b894a11ae942454b605efef25
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_85.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.03468609 -0.01745887 0.00837398
+v -0.03355388 -0.01746026 0.01329723
+v -0.03363442 -0.01583168 0.01329723
+v -0.03349556 -0.01104890 0.01329725
+v -0.03449630 -0.01104888 0.00837400
+v -0.03434541 -0.01876613 0.00837397
+v -0.03416581 -0.01925498 0.00837397
+v -0.03338354 -0.01846816 0.01219508
+v -0.03308729 -0.01821002 0.01329722
+v -0.02915743 -0.01104890 0.01329725
+v -0.02975918 -0.01104888 0.00837400
+v -0.03331966 -0.02015304 0.00837397
+v -0.02522849 -0.02507451 0.00837395
+v -0.03233743 -0.01860000 0.01329722
+v -0.02522849 -0.01630268 0.01329723
+v -0.02522849 -0.01633563 0.01281531
+v -0.02918798 -0.01104890 0.01280907
+v -0.02955921 -0.01104889 0.00955566
+v -0.02522849 -0.01672698 0.01072380
+v -0.02522849 -0.01705378 0.00942022
+v -0.02522849 -0.01740394 0.00837398
+v -0.02522849 -0.02085201 0.01329721
+v -0.02522849 -0.01650864 0.01181100
+v -0.02951570 -0.01104889 0.00985975
+v -0.02935369 -0.01104889 0.01113297
+v -0.02522849 -0.01663635 0.01111415
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 21
+f 1 21 13
+f 1 13 12
+f 1 12 7
+f 1 7 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 14
+f 2 14 22
+f 2 22 15
+f 2 15 10
+f 2 10 4
+f 2 4 3
+f 4 10 17
+f 4 17 25
+f 4 25 24
+f 4 24 18
+f 4 18 11
+f 4 11 5
+f 7 12 8
+f 8 12 9
+f 9 12 13
+f 9 13 14
+f 10 15 16
+f 10 16 17
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 13 22 14
+f 13 21 20
+f 13 20 19
+f 13 19 26
+f 13 26 23
+f 13 23 16
+f 13 16 15
+f 13 15 22
+f 16 23 24
+f 16 24 25
+f 16 25 17
+f 18 24 26
+f 18 26 19
+f 23 26 24
+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_86.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6894309fc1202b7af2570cda0026f454bb59c11e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_86.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.02522849 -0.02521502 0.00607404
+v -0.02522849 -0.02521503 0.00835344
+v -0.02522849 -0.01827117 0.00607406
+v -0.01235745 -0.02521502 0.00607404
+v -0.02522849 -0.02045556 0.01661941
+v -0.01651131 -0.02521506 0.01661940
+v -0.01660732 -0.02516866 0.01661940
+v -0.02522849 -0.01821853 0.00617419
+v -0.01080434 -0.02464577 0.01292981
+v -0.01080434 -0.02514812 0.01097869
+v -0.01080434 -0.02521504 0.01078564
+v -0.02522849 -0.01764390 0.00765252
+v -0.02522849 -0.01706212 0.00939614
+v -0.02522849 -0.01705409 0.00942092
+v -0.02522849 -0.01672663 0.01072373
+v -0.02522849 -0.01663562 0.01111499
+v -0.02522849 -0.01609936 0.01661943
+v -0.01080434 -0.02521506 0.01661940
+v -0.01080434 -0.02453958 0.01346663
+v -0.02522849 -0.01650891 0.01181078
+v -0.01080434 -0.02433882 0.01450310
+v -0.02522849 -0.01610650 0.01619823
+v -0.01080434 -0.02409880 0.01661940
+v -0.02522849 -0.01633492 0.01281525
+v -0.01080434 -0.02412468 0.01619820
+v -0.02522849 -0.01614041 0.01546424
+v -0.02522849 -0.01618680 0.01450313
+f 1 2 5
+f 1 5 17
+f 1 17 22
+f 1 22 26
+f 1 26 27
+f 1 27 24
+f 1 24 20
+f 1 20 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 12
+f 1 12 8
+f 1 8 3
+f 1 3 4
+f 1 4 11
+f 1 11 18
+f 1 18 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 8 4
+f 4 9 10
+f 4 10 11
+f 4 8 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 9
+f 5 7 6
+f 5 6 18
+f 5 18 23
+f 5 23 17
+f 9 19 21
+f 9 21 25
+f 9 25 23
+f 9 23 18
+f 9 18 11
+f 9 11 10
+f 9 16 19
+f 16 20 21
+f 16 21 19
+f 17 23 22
+f 20 24 21
+f 21 24 25
+f 22 23 26
+f 23 25 27
+f 23 27 26
+f 24 27 25
+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_87.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4de1ce94b7e7c278498f746b29badbd427ac65c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_87.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.02087576 0.03003666 -0.00241770
+v -0.02198745 0.02934755 -0.00241770
+v -0.02087576 0.02039260 -0.00241774
+v -0.02087576 0.02003082 -0.01938532
+v -0.02565364 0.01996629 -0.01938532
+v -0.02735464 0.01968972 -0.01938532
+v -0.02804078 0.02047447 -0.01671269
+v -0.02820335 0.02224908 -0.01175945
+v -0.02202809 0.02931759 -0.00241770
+v -0.02840178 0.02241617 -0.01063160
+v -0.02334299 0.01826535 -0.00241774
+v -0.02087576 0.02037762 -0.00244265
+v -0.02087576 0.01826541 -0.01938532
+v -0.02831093 0.01904325 -0.01938532
+v -0.02835636 0.02070724 -0.01558318
+v -0.02856435 0.02093771 -0.01430251
+v -0.02210220 0.02926112 -0.00241770
+v -0.02879984 0.02124884 -0.01260824
+v -0.02944414 0.02157494 -0.00922137
+v -0.02859304 0.02259477 -0.00922137
+v -0.02275248 0.02876331 -0.00241770
+v -0.03308642 0.01826535 -0.00241774
+v -0.02216197 0.01826536 -0.00427479
+v -0.02087576 0.01940620 -0.00415519
+v -0.02830017 0.01826541 -0.01938532
+v -0.02087576 0.01826536 -0.00655374
+v -0.02991870 0.02057701 -0.01012664
+v -0.02960193 0.02182385 -0.00752710
+v -0.03221380 0.01978877 -0.00241774
+v -0.03165915 0.02058735 -0.00241773
+v -0.03103756 0.02133638 -0.00241773
+v -0.03007649 0.02241959 -0.00241773
+v -0.02899707 0.02349359 -0.00241772
+v -0.02740963 0.02498128 -0.00241772
+v -0.02656450 0.02570265 -0.00241772
+v -0.02565603 0.02646205 -0.00241771
+v -0.02381038 0.02793016 -0.00241771
+v -0.02126306 0.01826536 -0.00583285
+v -0.02087576 0.01859839 -0.00583285
+f 1 2 9
+f 1 9 17
+f 1 17 21
+f 1 21 37
+f 1 37 36
+f 1 36 35
+f 1 35 34
+f 1 34 33
+f 1 33 32
+f 1 32 31
+f 1 31 30
+f 1 30 29
+f 1 29 22
+f 1 22 11
+f 1 11 3
+f 1 3 12
+f 1 12 24
+f 1 24 39
+f 1 39 26
+f 1 26 13
+f 1 13 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 10
+f 2 10 9
+f 3 11 12
+f 4 13 25
+f 4 25 14
+f 4 14 6
+f 4 6 5
+f 6 14 7
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 8 16 10
+f 9 10 17
+f 10 16 18
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 17
+f 11 22 25
+f 11 25 13
+f 11 13 26
+f 11 26 38
+f 11 38 23
+f 11 23 24
+f 11 24 12
+f 14 22 27
+f 14 27 15
+f 14 25 22
+f 15 27 16
+f 16 27 18
+f 18 27 19
+f 19 28 20
+f 19 27 29
+f 19 29 30
+f 19 30 28
+f 20 28 31
+f 20 31 32
+f 20 32 33
+f 20 33 34
+f 20 34 35
+f 20 35 36
+f 20 36 37
+f 20 37 21
+f 22 29 27
+f 23 38 24
+f 24 38 39
+f 26 39 38
+f 28 30 31
+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_88.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b174bd7105d311b324b9c51dcdc9f02a11d1f733
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_88.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.01080434 -0.02521610 0.01661940
+v -0.01080434 -0.03076763 0.01661938
+v -0.01080434 -0.02521608 0.01078564
+v -0.01651131 -0.02521610 0.01661940
+v -0.01080434 -0.03315694 0.01567064
+v -0.01080434 -0.02569226 0.00607404
+v -0.01201153 -0.02531981 0.00607404
+v -0.01235745 -0.02521606 0.00607404
+v -0.02522849 -0.02521607 0.00835344
+v -0.02522849 -0.02602323 0.00825020
+v -0.02522849 -0.02775892 0.00789921
+v -0.02342971 -0.02898729 0.00873436
+v -0.02187095 -0.03060991 0.00892844
+v -0.01841175 -0.03226158 0.01054404
+v -0.01299281 -0.03376696 0.01374017
+v -0.01080434 -0.03465608 0.01465997
+v -0.01080434 -0.03129152 0.00607402
+v -0.02522849 -0.02521606 0.00607404
+v -0.02522849 -0.02880055 0.00728495
+v -0.02300754 -0.03011607 0.00832555
+v -0.01644354 -0.03372649 0.01046249
+v -0.01487207 -0.03383750 0.01217204
+v -0.01992250 -0.03208001 0.00891501
+v -0.01116155 -0.03533355 0.01364002
+v -0.01080434 -0.03466750 0.01464552
+v -0.01080434 -0.03445479 0.00819752
+v -0.02132172 -0.03032563 0.00607402
+v -0.02522849 -0.02901011 0.00607402
+v -0.02522849 -0.02885969 0.00714249
+v -0.02520167 -0.02885450 0.00727050
+v -0.02322075 -0.03033083 0.00719514
+v -0.01732599 -0.03332706 0.00942086
+v -0.01647460 -0.03373167 0.00942086
+v -0.01263136 -0.03525470 0.01111492
+v -0.01372701 -0.03479925 0.01111492
+v -0.01992250 -0.03208001 0.00820579
+v -0.01151030 -0.03545286 0.01251064
+v -0.01080434 -0.03560330 0.01282550
+v -0.01080434 -0.03551096 0.01328696
+v -0.01080434 -0.03519555 0.00876531
+v -0.02053951 -0.03083918 0.00640746
+v -0.02224229 -0.03055076 0.00653031
+v -0.02224229 -0.03010361 0.00607402
+v -0.02522849 -0.02899144 0.00628668
+v -0.02520449 -0.02902152 0.00607402
+v -0.02322075 -0.03033082 0.00673781
+v -0.01637718 -0.03367876 0.00852478
+v -0.01543119 -0.03411658 0.00942085
+v -0.01164443 -0.03548294 0.00989675
+v -0.01177997 -0.03553274 0.01111492
+v -0.01080434 -0.03581390 0.01111492
+v -0.01080434 -0.03557320 0.00957363
+v -0.01543119 -0.03380741 0.00840194
+v -0.01883533 -0.03182998 0.00705473
+v -0.02390411 -0.02961392 0.00607402
+v -0.02463831 -0.02928504 0.00607402
+v -0.01080434 -0.03578070 0.01066895
+f 1 2 5
+f 1 5 16
+f 1 16 25
+f 1 25 39
+f 1 39 38
+f 1 38 51
+f 1 51 57
+f 1 57 52
+f 1 52 40
+f 1 40 26
+f 1 26 17
+f 1 17 6
+f 1 6 3
+f 1 3 8
+f 1 8 18
+f 1 18 9
+f 1 9 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 5 15 16
+f 6 17 27
+f 6 27 43
+f 6 43 55
+f 6 55 56
+f 6 56 45
+f 6 45 28
+f 6 28 18
+f 6 18 8
+f 6 8 7
+f 9 18 28
+f 9 28 44
+f 9 44 29
+f 9 29 19
+f 9 19 11
+f 9 11 10
+f 11 19 12
+f 12 19 20
+f 12 20 13
+f 13 20 14
+f 14 21 22
+f 14 22 15
+f 14 20 23
+f 14 23 21
+f 15 22 16
+f 16 24 25
+f 16 22 24
+f 17 26 27
+f 19 29 30
+f 19 30 20
+f 20 30 31
+f 20 31 23
+f 21 23 32
+f 21 32 33
+f 21 33 34
+f 21 34 35
+f 21 35 24
+f 21 24 22
+f 23 31 46
+f 23 46 36
+f 23 36 32
+f 24 35 37
+f 24 37 38
+f 24 38 39
+f 24 39 25
+f 26 40 27
+f 27 41 42
+f 27 42 43
+f 27 40 41
+f 28 45 46
+f 28 46 31
+f 28 31 44
+f 29 44 31
+f 29 31 30
+f 32 36 33
+f 33 47 48
+f 33 48 34
+f 33 36 47
+f 34 49 50
+f 34 50 37
+f 34 37 35
+f 34 48 49
+f 36 46 47
+f 37 50 51
+f 37 51 38
+f 40 52 47
+f 40 47 53
+f 40 53 54
+f 40 54 41
+f 41 54 42
+f 42 46 55
+f 42 55 43
+f 42 54 53
+f 42 53 47
+f 42 47 46
+f 45 56 46
+f 46 56 55
+f 47 52 49
+f 47 49 48
+f 49 52 57
+f 49 57 51
+f 49 51 50
+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_89.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be798a93cda3a95e007df7715517704ad6a67133
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_89.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.03033826 -0.00540738 -0.02130435
+v 0.02754499 -0.00527108 -0.02238818
+v 0.02754499 -0.00527967 -0.02277682
+v 0.02754499 -0.00530005 -0.02408372
+v 0.02754499 -0.00523244 -0.02557809
+v 0.02774650 -0.00522278 -0.02557809
+v 0.03033826 -0.00527001 -0.02299852
+v 0.03033826 -0.00540202 -0.02108128
+v 0.02885878 -0.00530435 -0.02108128
+v 0.02754499 -0.00511225 -0.02104570
+v 0.02754499 0.00555662 -0.02557805
+v 0.02936680 -0.00500170 -0.02557809
+v 0.03033826 -0.00500277 -0.02455858
+v 0.03033826 -0.00530758 -0.01961017
+v 0.02754499 -0.00504678 -0.02063653
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diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_9.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ee5d13801b140c47053d7b17b526e42b665e69f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_9.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_90.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23d6a736ee2219521b3234b394bfd3f103bfdc71
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_90.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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+f 13 25 26
+f 13 26 22
+f 14 20 25
+f 15 27 16
+f 16 23 28
+f 16 28 29
+f 16 29 30
+f 16 30 31
+f 16 31 18
+f 16 18 17
+f 16 27 23
+f 18 32 20
+f 18 20 19
+f 18 31 33
+f 18 33 34
+f 18 34 32
+f 20 32 35
+f 20 35 25
+f 22 36 37
+f 22 26 36
+f 23 24 38
+f 23 38 28
+f 24 39 38
+f 25 35 26
+f 26 35 40
+f 26 40 36
+f 28 41 29
+f 28 38 42
+f 28 42 43
+f 28 43 44
+f 28 44 45
+f 28 45 41
+f 29 41 30
+f 30 41 46
+f 30 46 31
+f 31 46 33
+f 32 40 35
+f 32 34 47
+f 32 47 48
+f 32 48 40
+f 33 46 41
+f 33 41 45
+f 33 45 49
+f 33 49 47
+f 33 47 34
+f 36 50 51
+f 36 51 52
+f 36 52 37
+f 36 40 48
+f 36 48 50
+f 37 52 51
+f 37 51 53
+f 38 39 42
+f 39 53 42
+f 42 53 51
+f 42 51 49
+f 42 49 43
+f 43 54 44
+f 43 49 54
+f 44 54 45
+f 45 54 49
+f 47 49 48
+f 48 49 51
+f 48 51 50
+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_91.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a7599c9f50be53dbada84a0c0646e20143950de
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_91.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.02662885 -0.01830154 -0.00192838
+v -0.03890465 -0.01830154 -0.00192838
+v -0.02662885 -0.02376078 -0.00192840
+v -0.02662885 -0.01830149 -0.01524508
+v -0.03865088 -0.01868043 -0.00192838
+v -0.03891427 -0.01830154 -0.00244533
+v -0.03076127 -0.02418355 -0.00192840
+v -0.02662885 -0.02435844 -0.01203016
+v -0.02662885 -0.02263532 -0.01586298
+v -0.03728463 -0.01830153 -0.00533701
+v -0.03844883 -0.01893717 -0.00192838
+v -0.03864006 -0.01865790 -0.00244261
+v -0.03872304 -0.01830154 -0.00327328
+v -0.03196516 -0.02405548 -0.00192840
+v -0.02732039 -0.02435843 -0.01260849
+v -0.02662885 -0.02435843 -0.01429166
+v -0.02662885 -0.02389711 -0.01559155
+v -0.02676475 -0.02380698 -0.01550426
+v -0.03778495 -0.01830153 -0.00484188
+v -0.03793288 -0.01952775 -0.00192838
+v -0.03851739 -0.01850966 -0.00346697
+v -0.03789920 -0.01950462 -0.00244261
+v -0.03858473 -0.01830154 -0.00358836
+v -0.03255087 -0.02397543 -0.00192840
+v -0.02735407 -0.02435013 -0.01260849
+v -0.02670702 -0.02435843 -0.01418254
+v -0.02734084 -0.02399970 -0.01419482
+v -0.02827773 -0.02355559 -0.01355783
+v -0.03666525 -0.02001039 -0.00483642
+v -0.03802789 -0.01830153 -0.00448314
+v -0.03708138 -0.02048002 -0.00192839
+v -0.03687813 -0.02025588 -0.00370703
+v -0.03704770 -0.02043614 -0.00244262
+v -0.03337471 -0.02365168 -0.00192840
+v -0.03001320 -0.02354670 -0.01026787
+v -0.03347092 -0.02358468 -0.00205252
+v -0.03324963 -0.02345660 -0.00318327
+v -0.02855074 -0.02372457 -0.01260849
+v -0.03357435 -0.02200920 -0.00711158
+v -0.03496345 -0.02174002 -0.00483097
+v -0.03683844 -0.02073676 -0.00192839
+v -0.03515708 -0.02190724 -0.00370158
+v -0.03618778 -0.02128346 -0.00244262
+v -0.03348776 -0.02359772 -0.00192840
+v -0.03389426 -0.02224876 -0.00583215
+v -0.03356954 -0.02353665 -0.00192840
+v -0.03423342 -0.02303620 -0.00192839
+v -0.03408910 -0.02301308 -0.00254764
+v -0.03430438 -0.02241894 -0.00421445
+v -0.03623950 -0.02132674 -0.00192839
+v -0.03533628 -0.02206792 -0.00244262
+v -0.03538800 -0.02211833 -0.00192839
+v -0.03508492 -0.02237507 -0.00192839
+f 1 2 5
+f 1 5 11
+f 1 11 20
+f 1 20 31
+f 1 31 41
+f 1 41 50
+f 1 50 52
+f 1 52 53
+f 1 53 47
+f 1 47 46
+f 1 46 44
+f 1 44 34
+f 1 34 24
+f 1 24 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 17
+f 1 17 9
+f 1 9 4
+f 1 4 10
+f 1 10 19
+f 1 19 30
+f 1 30 23
+f 1 23 13
+f 1 13 6
+f 1 6 2
+f 2 6 5
+f 3 7 8
+f 4 9 10
+f 5 6 12
+f 5 12 11
+f 6 13 12
+f 7 14 15
+f 7 15 8
+f 8 15 26
+f 8 26 16
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 11 12 20
+f 12 13 21
+f 12 21 22
+f 12 22 20
+f 13 23 21
+f 14 24 15
+f 15 25 26
+f 15 24 25
+f 16 26 17
+f 17 26 27
+f 17 27 28
+f 17 28 18
+f 18 28 29
+f 18 29 19
+f 19 29 30
+f 20 22 31
+f 21 23 29
+f 21 29 32
+f 21 32 22
+f 22 32 33
+f 22 33 31
+f 23 30 29
+f 24 34 25
+f 25 34 26
+f 26 35 27
+f 26 34 36
+f 26 36 37
+f 26 37 35
+f 27 35 38
+f 27 38 28
+f 28 38 35
+f 28 35 39
+f 28 39 29
+f 29 40 32
+f 29 39 40
+f 31 33 41
+f 32 42 43
+f 32 43 33
+f 32 40 42
+f 33 43 41
+f 34 44 36
+f 35 37 45
+f 35 45 39
+f 36 44 46
+f 36 46 47
+f 36 47 48
+f 36 48 37
+f 37 48 49
+f 37 49 45
+f 39 45 40
+f 40 45 49
+f 40 49 42
+f 41 43 50
+f 42 48 51
+f 42 51 43
+f 42 49 48
+f 43 51 52
+f 43 52 50
+f 47 53 51
+f 47 51 48
+f 51 53 52
+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_92.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7d1d6c70d18e1def08334b86cb6ba4f4ba88263
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_92.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.03709107 -0.01761014 0.00319694
+v -0.03681123 -0.01868808 0.00363679
+v -0.03468512 -0.01745893 0.00837398
+v -0.03702373 -0.01104749 0.00319696
+v -0.03697031 -0.01895010 0.00319693
+v -0.03511011 -0.01864414 0.00714762
+v -0.03434489 -0.01876899 0.00837397
+v -0.03449584 -0.01104751 0.00837400
+v -0.03052114 -0.01104749 0.00319696
+v -0.03670905 -0.01972910 0.00319693
+v -0.03662660 -0.01981703 0.00329119
+v -0.03416491 -0.01925609 0.00837397
+v -0.02975941 -0.01104751 0.00837400
+v -0.02522849 -0.01740265 0.00837398
+v -0.02522849 -0.01891317 0.00319693
+v -0.03664867 -0.01985923 0.00319693
+v -0.03485233 -0.01977307 0.00660589
+v -0.03517281 -0.02031293 0.00547683
+v -0.03473040 -0.02144187 0.00472480
+v -0.03359477 -0.02209075 0.00550267
+v -0.03304205 -0.02321969 0.00481600
+v -0.03371670 -0.02046417 0.00743545
+v -0.03331957 -0.02015292 0.00837397
+v -0.02522849 -0.02507490 0.00837395
+v -0.02522849 -0.02675071 0.00319690
+v -0.03594499 -0.02090553 0.00319692
+v -0.03543059 -0.02090202 0.00423071
+v -0.03507875 -0.02186038 0.00359523
+v -0.03408595 -0.02253916 0.00420537
+v -0.03344149 -0.02360479 0.00368593
+v -0.03138737 -0.02492366 0.00477901
+v -0.03025290 -0.02548462 0.00548543
+v -0.02522849 -0.02879936 0.00728440
+v -0.02522849 -0.02775658 0.00789810
+v -0.02522849 -0.02602272 0.00824928
+v -0.02522849 -0.02716923 0.00357241
+v -0.02603783 -0.02679819 0.00319690
+v -0.03516468 -0.02195006 0.00319692
+v -0.03353439 -0.02368216 0.00319691
+v -0.03169857 -0.02524369 0.00364944
+v -0.02848095 -0.02706549 0.00555282
+v -0.02522849 -0.02885915 0.00714200
+v -0.02522849 -0.02873604 0.00501007
+v -0.02735461 -0.02684919 0.00319690
+v -0.03172528 -0.02525776 0.00319691
+v -0.02630606 -0.02841424 0.00603069
+v -0.02545492 -0.02890662 0.00603068
+v -0.02522849 -0.02899102 0.00628558
+v -0.02522849 -0.02875715 0.00504301
+v -0.02526913 -0.02873253 0.00501210
+v -0.02841592 -0.02694942 0.00338947
+v -0.02859590 -0.02676126 0.00319690
+v -0.02778889 -0.02682105 0.00319690
+v -0.03032257 -0.02602446 0.00319690
+v -0.02856920 -0.02707604 0.00433660
+v -0.02522849 -0.02901212 0.00604234
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 15
+f 1 15 25
+f 1 25 37
+f 1 37 44
+f 1 44 53
+f 1 53 52
+f 1 52 54
+f 1 54 45
+f 1 45 39
+f 1 39 38
+f 1 38 26
+f 1 26 16
+f 1 16 10
+f 1 10 5
+f 1 5 2
+f 2 6 3
+f 2 5 6
+f 3 6 7
+f 3 7 12
+f 3 12 23
+f 3 23 24
+f 3 24 14
+f 3 14 13
+f 3 13 8
+f 3 8 4
+f 4 8 13
+f 4 13 9
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 6 12 7
+f 9 13 14
+f 9 14 15
+f 10 16 11
+f 11 17 12
+f 11 16 18
+f 11 18 17
+f 12 17 18
+f 12 18 19
+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 14 24 35
+f 14 35 34
+f 14 34 33
+f 14 33 42
+f 14 42 48
+f 14 48 56
+f 14 56 49
+f 14 49 43
+f 14 43 36
+f 14 36 25
+f 14 25 15
+f 16 26 27
+f 16 27 18
+f 18 27 28
+f 18 28 19
+f 19 28 29
+f 19 29 21
+f 19 21 20
+f 21 23 22
+f 21 29 30
+f 21 30 31
+f 21 31 23
+f 23 31 32
+f 23 32 33
+f 23 33 34
+f 23 34 35
+f 23 35 24
+f 25 36 37
+f 26 38 28
+f 26 28 27
+f 28 38 30
+f 28 30 29
+f 30 38 39
+f 30 39 40
+f 30 40 31
+f 31 40 41
+f 31 41 32
+f 32 41 33
+f 33 41 42
+f 36 43 37
+f 37 43 44
+f 39 45 40
+f 40 45 46
+f 40 46 41
+f 41 46 42
+f 42 46 47
+f 42 47 48
+f 43 49 50
+f 43 50 51
+f 43 51 52
+f 43 52 53
+f 43 53 44
+f 45 54 55
+f 45 55 47
+f 45 47 46
+f 47 56 48
+f 47 55 54
+f 47 54 51
+f 47 51 56
+f 49 56 50
+f 50 56 51
+f 51 54 52
+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_93.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32f1b3c4c0c8efae0639f415d9b59f54e4b6a878
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_93.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.01404718 -0.02096461 0.00086039
+v 0.00715274 -0.02520168 0.00086038
+v 0.01404718 -0.02520168 0.00086038
+v 0.01404718 -0.01809833 -0.00413710
+v -0.00002265 -0.02520166 -0.00472425
+v 0.01404718 -0.02520167 -0.00262361
+v 0.01404718 -0.01713475 -0.00583339
+v 0.01404718 -0.01627798 -0.00751307
+v 0.01404718 -0.01539785 -0.00925784
+v -0.00002265 -0.02471320 -0.00590543
+v -0.00002265 -0.02520163 -0.01328605
+v 0.00712382 -0.02520163 -0.01328605
+v 0.01404718 -0.01962267 -0.01328603
+v 0.01404718 -0.01473024 -0.01091397
+v 0.01404718 -0.01404148 -0.01267950
+v -0.00002265 -0.02359940 -0.00877598
+v -0.00002265 -0.02220853 -0.01328604
+v 0.01404718 -0.01383452 -0.01328601
+v 0.01404718 -0.01391575 -0.01304646
+v -0.00002265 -0.02327115 -0.00966498
+v -0.00002265 -0.02330008 -0.00958328
+v -0.00002265 -0.02236097 -0.01260614
+v -0.00002265 -0.02284833 -0.01091400
+f 1 2 3
+f 1 3 6
+f 1 6 13
+f 1 13 18
+f 1 18 19
+f 1 19 15
+f 1 15 14
+f 1 14 9
+f 1 9 8
+f 1 8 7
+f 1 7 4
+f 1 4 5
+f 1 5 2
+f 2 5 11
+f 2 11 12
+f 2 12 6
+f 2 6 3
+f 4 7 5
+f 5 7 8
+f 5 8 9
+f 5 9 10
+f 5 10 16
+f 5 16 21
+f 5 21 20
+f 5 20 23
+f 5 23 22
+f 5 22 17
+f 5 17 11
+f 6 12 13
+f 9 14 10
+f 10 14 15
+f 10 15 16
+f 11 17 18
+f 11 18 13
+f 11 13 12
+f 15 19 20
+f 15 20 21
+f 15 21 16
+f 17 22 18
+f 18 22 23
+f 18 23 20
+f 18 20 19
+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_94.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aeb858c42a548b73a73c82e31af667bcac94ce0b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_94.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.01404718 -0.02520284 0.00086038
+v 0.00715274 -0.02520284 0.00086038
+v 0.01404718 -0.03051940 0.00086036
+v 0.01404718 -0.02520283 -0.00262361
+v -0.00002265 -0.02680786 0.00086037
+v -0.00002265 -0.02520282 -0.00472425
+v 0.01287240 -0.03274493 0.00086035
+v 0.00471917 -0.03112253 -0.01328607
+v 0.00494917 -0.03061410 -0.01328607
+v 0.00546425 -0.02936036 -0.01328607
+v 0.00712382 -0.02520279 -0.01328605
+v -0.00002265 -0.03609826 0.00086034
+v -0.00002265 -0.02520279 -0.01328605
+v 0.01254599 -0.03317016 0.00086035
+v 0.00439690 -0.03215672 -0.01226692
+v 0.00338325 -0.03192446 -0.01328608
+v 0.01173618 -0.03417200 0.00086034
+v 0.00152950 -0.03693370 0.00086033
+v -0.00002265 -0.03616642 -0.00236609
+v -0.00002265 -0.02940658 -0.01328607
+v 0.00581407 -0.03531941 -0.00494862
+v 0.00467785 -0.03548466 -0.00534465
+v 0.00907536 -0.03512762 -0.00132754
+v 0.00747502 -0.03526165 -0.00319416
+v 0.00330888 -0.03193602 -0.01328608
+v 0.00330888 -0.03520617 -0.00640812
+v 0.01167282 -0.03422862 0.00086034
+v 0.00156530 -0.03695103 0.00086033
+v -0.00002265 -0.03601852 -0.00406100
+v 0.00164656 -0.03108093 -0.01328607
+v -0.00002265 -0.03509178 -0.00633889
+v 0.00515300 -0.03574002 -0.00428533
+v 0.00794052 -0.03552973 -0.00206422
+v 0.00634155 -0.03554475 -0.00381867
+v 0.00330888 -0.03610401 -0.00413716
+v 0.00330888 -0.03559789 -0.00556344
+v 0.00948027 -0.03544770 -0.00019760
+v 0.00160524 -0.03563140 -0.00555097
+v -0.00002265 -0.03558634 -0.00549282
+v -0.00002265 -0.03511373 -0.00630150
+v 0.01056966 -0.03504558 0.00086034
+v 0.00181183 -0.03695912 0.00086033
+v 0.00160524 -0.03677424 -0.00074873
+v 0.00330888 -0.03698685 0.00064016
+v 0.00160524 -0.03615255 -0.00413716
+v 0.00160524 -0.03652579 -0.00244225
+v -0.00002265 -0.03600117 -0.00413716
+v 0.00683185 -0.03578857 -0.00255441
+v 0.00501114 -0.03632473 -0.00244225
+v 0.00847213 -0.03570538 -0.00075703
+v 0.00330888 -0.03652694 -0.00244225
+v 0.00972542 -0.03554360 0.00086034
+v 0.00841980 -0.03603701 0.00086034
+v -0.00002265 -0.03560945 -0.00542912
+v 0.00330888 -0.03700649 0.00086033
+v 0.00330888 -0.03682277 -0.00074873
+v 0.00347966 -0.03699610 0.00086033
+v 0.00501114 -0.03665637 -0.00074872
+v 0.00671478 -0.03631087 -0.00074872
+v 0.00833028 -0.03606706 0.00086034
+v 0.00487480 -0.03685744 0.00086033
+v 0.00671478 -0.03652464 0.00086034
+v 0.00662802 -0.03654198 0.00086034
+f 1 2 5
+f 1 5 12
+f 1 12 18
+f 1 18 28
+f 1 28 42
+f 1 42 55
+f 1 55 57
+f 1 57 61
+f 1 61 63
+f 1 63 62
+f 1 62 60
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+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_95.obj b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2b9e4a58e8abf3334e9cf59593ada94c55b488d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mesh/mug_002_collision_95.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v -0.00002265 -0.02829266 -0.01627587
+v -0.00002265 -0.02164031 -0.01627585
+v -0.00543773 -0.02612118 -0.01627587
+v -0.00002265 -0.02640085 -0.02739184
+v -0.00543773 -0.02137072 -0.01769364
+v -0.00543773 -0.02162784 -0.01627585
+v -0.00002265 -0.02145098 -0.01769364
+v -0.00543773 -0.02111048 -0.01938889
+v -0.00543773 -0.02396212 -0.02739183
+v -0.00002265 -0.02061024 -0.02739182
+v -0.00002265 -0.02127955 -0.01938889
+v -0.00543773 -0.02070687 -0.02277613
+v -0.00543773 -0.02088997 -0.02108305
+v -0.00543773 -0.02033364 -0.02739181
+v -0.00543773 -0.02055804 -0.02447138
+f 1 2 6
+f 1 6 3
+f 1 3 4
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+f 1 10 11
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+f 1 7 2
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+f 2 7 8
+f 2 8 5
+f 3 6 5
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+f 3 12 15
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+f 3 14 9
+f 3 9 4
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+f 4 14 10
+f 7 11 12
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+f 11 15 12
+
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mug_002.xml b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mug_002.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0f8462a30e3e54ebc65ef7044a1eadcae7e72361
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mjcf/mug_002.xml
@@ -0,0 +1,206 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mug_002">
+  <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_002.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/mug_002_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mug_002_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/mug_002_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/mug_002_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/mug_002_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/mug_002_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/mug_002_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/mug_002_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/mug_002_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/mug_002_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/mug_002_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/mug_002_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/mug_002_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/mug_002_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/mug_002_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/mug_002_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/mug_002_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/mug_002_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/mug_002_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/mug_002_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/mug_002_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/mug_002_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/mug_002_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/mug_002_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/mug_002_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/mug_002_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/mug_002_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/mug_002_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/mug_002_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/mug_002_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/mug_002_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/mug_002_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/mug_002_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/mug_002_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/mug_002_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/mug_002_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/mug_002_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/mug_002_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/mug_002_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/mug_002_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/mug_002_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/mug_002_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/mug_002_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/mug_002_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/mug_002_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/mug_002_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/mug_002_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/mug_002_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/mug_002_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/mug_002_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/mug_002_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/mug_002_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/mug_002_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/mug_002_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/mug_002_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/mug_002_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/mug_002_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/mug_002_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/mug_002_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/mug_002_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/mug_002_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/mug_002_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_62" file="mesh/mug_002_collision_62.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_63" file="mesh/mug_002_collision_63.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_64" file="mesh/mug_002_collision_64.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_65" file="mesh/mug_002_collision_65.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_66" file="mesh/mug_002_collision_66.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_67" file="mesh/mug_002_collision_67.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_68" file="mesh/mug_002_collision_68.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_69" file="mesh/mug_002_collision_69.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_70" file="mesh/mug_002_collision_70.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_71" file="mesh/mug_002_collision_71.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_72" file="mesh/mug_002_collision_72.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_73" file="mesh/mug_002_collision_73.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_74" file="mesh/mug_002_collision_74.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_75" file="mesh/mug_002_collision_75.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_76" file="mesh/mug_002_collision_76.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_77" file="mesh/mug_002_collision_77.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_78" file="mesh/mug_002_collision_78.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_79" file="mesh/mug_002_collision_79.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_80" file="mesh/mug_002_collision_80.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_81" file="mesh/mug_002_collision_81.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_82" file="mesh/mug_002_collision_82.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_83" file="mesh/mug_002_collision_83.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_84" file="mesh/mug_002_collision_84.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_85" file="mesh/mug_002_collision_85.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_86" file="mesh/mug_002_collision_86.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_87" file="mesh/mug_002_collision_87.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_88" file="mesh/mug_002_collision_88.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_89" file="mesh/mug_002_collision_89.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_90" file="mesh/mug_002_collision_90.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_91" file="mesh/mug_002_collision_91.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_92" file="mesh/mug_002_collision_92.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_93" file="mesh/mug_002_collision_93.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_94" file="mesh/mug_002_collision_94.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_95" file="mesh/mug_002_collision_95.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mug_002">
+      <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" />
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+      <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" />
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+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_93" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_94" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_95" 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/7b3e22f9c63c5fb695f4442cdc1f37ef/mug_002.urdf b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mug_002.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..916e7520e7c42e5e89f37185fafd6a1513e44c35
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mug_002.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mug_002">
+   <link name="mug_002">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mug_002.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_002_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>7b3e22f9c63c5fb695f4442cdc1f37ef</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>mug</category>
+         <name>textured mug</name>
+         <color>gray,brown</color>
+         <shape>cylinder</shape>
+         <material>ceramic</material>
+         <description>mug with organic textured surface and curved handle</description>
+         <min_height>0.0801</min_height>
+         <max_height>0.0801</max_height>
+         <real_height>0.0801</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428020746</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_container,is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>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>NO: {"summary":"Handle is merged with body; distinct functional part boundary is clear but cannot be fixed by color merging.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mug_002.usd b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mug_002.usd
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+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mug_002.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21c8979123242f9943be7b61065bbac1e3d75cf01f253196006648dd6afe0ffe
+size 4991584
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/textures/material_0.png b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/textures/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:527eea87cbb90f53cacd06b5b5671cd71f79153d4b8f5de2e609523f7e337c90
+size 7579998
diff --git a/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/video.mp4 b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/video.mp4
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd501cbe37a3a01feccbff13d462b787f28823ec2af66e55252e4a08ea853322
+size 173806