diff --git a/.gitattributes b/.gitattributes
index 0b0869b68f783b07f89b03d176506a7e271fd1ea..cd0019e930cc26d75ffa96c44c9d320ff49faadb 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4708,3 +4708,5 @@ dataset/kitchen_supplies/ware/5bce7ce993595dedb49bd8fe4857d506/thermos_010.usd f
 dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/5bcb6bfef30a58e39fc2b1ca0fc413e8.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mesh/purple_cup.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/mesh/purple_cup_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mesh/mug_019.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mug_019.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mesh/material.mtl b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..54855194fecb9adbf1c6b4cf55079b94d773f586
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mug_019_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd mug_019_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mesh/material_0.png b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2de590d26c81d56c3e7f596c5bc1c6f09e5301e7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mesh/mug_019.glb b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mesh/mug_019.glb
new file mode 100644
index 0000000000000000000000000000000000000000..0f3629543c729347a7a4cd4de7fe40c4c9d283e1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mesh/mug_019.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12797924
diff --git a/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mesh/mug_019.mtl b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mesh/mug_019.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e555f8699c9c0fa29c3d5de416065cedcca86fc1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mesh/mug_019.mtl
@@ -0,0 +1,6 @@
+newmtl mug_019_geometry_Looks_material_0
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+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/5c4fb0d872af550aad3f70c4c68c7932/mesh/mug_019.obj b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mesh/mug_019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ced776d075425f5514c9242fc68cf52c4d778bcf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mesh/mug_019.obj
@@ -0,0 +1,106232 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mug_019_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mesh/mug_019_collision.obj b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mesh/mug_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18d40dc0e8659df04695eab984e0ee6b1f464530
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mesh/mug_019_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mesh/mug_019_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mesh/mug_019_geometry_Looks_material_0.png
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index 0000000000000000000000000000000000000000..2de590d26c81d56c3e7f596c5bc1c6f09e5301e7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mesh/mug_019_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 9416305
diff --git a/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2de590d26c81d56c3e7f596c5bc1c6f09e5301e7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 9416305
diff --git a/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019.obj b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019.obj
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index 0000000000000000000000000000000000000000..3a533c77563c7b408a800c13f7f6335c1bc7f9df
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision.obj b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0654d4b7f19b56574dff6b6fea830605f852052
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision.obj
@@ -0,0 +1,12187 @@
+# https://github.com/mikedh/trimesh
+
+o mug_019_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_0.obj b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..364cef7f347baee420474b288296051c41a00ee1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_1.obj b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4b66766d63481c466a368d03d7f9ea418dd8801
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_10.obj b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2921180b5dc999d97d8fb30b105f61c18c1c081
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_11.obj b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cc39ee4bfc9f46e1238f9ccaacfa065e0600256
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_11.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_12.obj b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9953607123926d9870e0a092a91fe6af6fb6968c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_12.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_13.obj b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ff0aafefeb69edb9d11a5dbd87aa1200c9cf4c5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_13.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.00884596 0.02091297 -0.02564005
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+v 0.00051410 0.02829782 0.03851632
+v 0.00884596 0.02568309 0.03828356
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+f 1 17 7
+f 1 7 3
+f 1 3 9
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+
diff --git a/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_14.obj b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43561392e4c012cbbf811e9779e59bbedfb5e07e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_14.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v -0.02871898 -0.00219391 -0.03820927
+v -0.02871898 -0.00371706 -0.03819835
+v -0.03024939 -0.00066977 -0.03782695
+v -0.02871898 0.00009279 -0.03820683
+v -0.02718857 -0.00828551 -0.03820079
+v -0.02871898 -0.00523922 -0.03815830
+v -0.02718857 -0.00980866 -0.03817167
+v -0.03024939 0.00009279 -0.03782574
+v -0.03024939 -0.00219391 -0.03778570
+v -0.03121757 -0.00066977 -0.03728807
+v -0.01765007 0.00009278 -0.03477211
+v -0.02565976 -0.01004895 -0.03799569
+v -0.02694692 -0.01004895 -0.03817167
+v -0.02871898 -0.00676236 -0.03806485
+v -0.02718857 -0.01004895 -0.03814498
+v -0.02871898 -0.00828551 -0.03789859
+v -0.03121596 0.00009279 -0.03728686
+v -0.03024939 -0.00371706 -0.03768860
+v -0.03118052 -0.00219391 -0.03725774
+v -0.03185551 -0.00066978 -0.03634990
+v -0.01765007 0.00009276 -0.03002175
+v -0.01765007 -0.01004896 -0.03505372
+v -0.03002546 -0.00676236 -0.03746772
+v -0.02866098 -0.01004895 -0.03759639
+v -0.02884141 -0.00989207 -0.03754663
+v -0.02979993 -0.00828551 -0.03734636
+v -0.03185229 0.00009278 -0.03634990
+v -0.03035571 -0.00519156 -0.03748107
+v -0.03104520 -0.00465339 -0.03714124
+v -0.03110481 -0.00371706 -0.03719463
+v -0.03177819 -0.00219392 -0.03634991
+v -0.03239358 -0.00066978 -0.03482187
+v -0.02591107 -0.01004900 -0.02581031
+v -0.01765007 -0.01004898 -0.02961278
+v -0.02815353 0.00009274 -0.02581027
+v -0.02879952 -0.01004895 -0.03753449
+v -0.02961628 -0.00943929 -0.03722014
+v -0.03093727 -0.00566816 -0.03702230
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+v -0.03134323 -0.00519157 -0.03644701
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+v -0.03231303 -0.00219392 -0.03482188
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+v -0.03079067 -0.00676236 -0.03680019
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+v -0.03214549 -0.00371707 -0.03482188
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+v -0.03397231 -0.00205792 -0.02704096
+v -0.03407864 -0.00145919 -0.02643897
+v -0.03408830 -0.00066981 -0.02655668
+v -0.03408830 0.00009275 -0.02655547
+v -0.03238552 -0.00996162 -0.02581031
+v -0.03259172 -0.00918316 -0.02683101
+v -0.03234847 -0.00973820 -0.02727765
+v -0.03223409 -0.01004899 -0.02725823
+v -0.03409958 0.00009275 -0.02616102
+v -0.03410603 -0.00071351 -0.02581027
+v -0.02982087 -0.01004896 -0.03663394
+v -0.03061185 -0.00829645 -0.03630623
+v -0.03109675 -0.00779700 -0.03576736
+v -0.03189740 -0.00523923 -0.03482189
+v -0.03355024 -0.00523926 -0.02718175
+v -0.03383216 -0.00385612 -0.02581028
+v -0.03398842 -0.00285128 -0.02581028
+v -0.03403837 -0.00247495 -0.02595714
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+v -0.03241613 -0.00987822 -0.02581031
+v -0.03285592 -0.00840571 -0.02581030
+v -0.03329893 -0.00692228 -0.02581030
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+v -0.03253534 -0.00901039 -0.02785050
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+v -0.02994169 -0.01004896 -0.03641426
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+v -0.03094210 -0.00881277 -0.03508648
+v -0.03156071 -0.00676237 -0.03482189
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+v -0.03360824 -0.00523927 -0.02581029
+v -0.03405931 -0.00233198 -0.02581028
+v -0.03268033 -0.00799463 -0.02831656
+v -0.03046203 -0.01004896 -0.03497726
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+f 77 86 79
+f 80 85 81
+
diff --git a/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_15.obj b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac4cd97fc0c35f3640b2f5c436fecbe62a7fa3aa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_15.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.01568057 0.01538250 -0.02564653
+v 0.00884678 0.02091381 -0.02564651
+v 0.01568057 0.02347698 -0.02564650
+v 0.01568057 0.01906073 0.03096809
+v 0.00884678 0.02386889 0.03089055
+v 0.00884678 0.02759895 -0.02564649
+v 0.01385573 0.02481883 -0.02564650
+v 0.01568057 0.02347859 -0.02564003
+v 0.01568057 0.01919089 0.03233191
+v 0.00884678 0.02399583 0.03241596
+v 0.00884678 0.02392834 0.03162740
+v 0.00884678 0.02760538 -0.02556246
+v 0.00889427 0.02757966 -0.02564649
+v 0.01384770 0.02482365 -0.02564650
+v 0.01469457 0.02891164 0.03699867
+v 0.01568057 0.02827205 0.03699866
+v 0.01568057 0.01944801 0.03394135
+v 0.00884678 0.02420474 0.03394137
+v 0.00884678 0.02408261 0.03306878
+v 0.00884678 0.03179782 0.03699868
+v 0.00953912 0.03152141 0.03699868
+v 0.01187971 0.03057810 0.03761917
+v 0.01246235 0.02564161 -0.02564650
+v 0.01392931 0.02936482 0.03699867
+v 0.01187971 0.03057810 0.03784540
+v 0.01458218 0.02883932 0.03853054
+v 0.01568057 0.02824313 0.03728306
+v 0.01568057 0.01954603 0.03432916
+v 0.00884678 0.02438954 0.03491737
+v 0.00884678 0.03164033 0.03858872
+v 0.00953912 0.03138642 0.03853055
+v 0.01104288 0.03077737 0.03842712
+v 0.01153454 0.03040455 0.03886665
+v 0.01247305 0.03006707 0.03842712
+v 0.01381693 0.02929571 0.03853054
+v 0.01351992 0.02912055 0.03938373
+v 0.01568057 0.02810653 0.03861455
+v 0.01568057 0.01984011 0.03547322
+v 0.00884678 0.02460809 0.03577056
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+v 0.01051442 0.03064720 0.03939020
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+v 0.01565983 0.02522516 0.04038557
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+v 0.01568057 0.02167369 0.03876966
+v 0.01568057 0.02522516 0.04037910
+v 0.01568057 0.02252057 0.03955822
+f 1 2 6
+f 1 6 13
+f 1 13 23
+f 1 23 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 27
+f 1 27 37
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+
diff --git a/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_16.obj b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b7405d2dbd5fc700b872a346dd596365a5805ec
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_16.obj
@@ -0,0 +1,526 @@
+# https://github.com/mikedh/trimesh
+v 0.01503130 -0.02855190 0.03700347
+v 0.01566183 -0.02814258 0.03700347
+v 0.01663628 -0.02747299 0.03819507
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diff --git a/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_17.obj b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b764d9974f1262ad653a5191d5e420546bfecb9a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_17.obj
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diff --git a/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_18.obj b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15ef236e93468b23fafefdb8eca0b026ab2eeabf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_18.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_19.obj b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d24ede2cb1a95a40b9cfae92e9486469a5d729d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_19.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_2.obj b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56e76891dd42af0e411791ec86dc9f7580715475
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_2.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_20.obj b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73fa8d837e0699e07b0d1bbf28af695484e631a3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_20.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v -0.00898108 -0.03354823 0.03700112
+v -0.00898108 -0.03353463 0.03817389
+v -0.00981140 -0.03346388 0.03793415
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+
diff --git a/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_21.obj b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a24a8e08a043f929e107129182e5d566eab9661c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_21.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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+v -0.03169551 -0.01172363 -0.02581031
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diff --git a/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_22.obj b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82b8c6ec7091558e56122f784fdf3c730032ca0f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_22.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_23.obj b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9d80b636dd9742e241b6affdffc09e86bb57a0b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_23.obj
@@ -0,0 +1,469 @@
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diff --git a/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_24.obj b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f19c19f4045473a130f78da1f134e87557848938
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_24.obj
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diff --git a/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_25.obj b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb0fb8e56176351c078ade852b1e496ab9131034
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_25.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_26.obj b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cc59c65c1fbbf5cd852475976d0bf26bdac85c0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_26.obj
@@ -0,0 +1,703 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_27.obj b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..947d017bedebd0f010566495027342c6b21850f5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_27.obj
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diff --git a/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_28.obj b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7e524927b0027b1d22799cb7b03100984d244cf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_28.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_29.obj b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cddadd3e27b7592e40fc8ba8808186c40c19191
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_29.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_3.obj b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de3c53d1f388e2987fab7a41667b3bce4a34d28b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_3.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_30.obj b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7cb85a4ef141a7540f2e1cfdc42608175dd8ff8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_30.obj
@@ -0,0 +1,574 @@
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diff --git a/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_31.obj b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8851eab3ac750b0e5006c2622f999e2e39e8c1d0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_31.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_32.obj b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbd119894c94dcd80cbcba2f8dc4060d8cc165ed
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_32.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_33.obj b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e76709332b53f6faf7b415cf864c48ac6d7fe86
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_33.obj
@@ -0,0 +1,616 @@
+# https://github.com/mikedh/trimesh
+v 0.04779899 -0.00495665 0.02783379
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diff --git a/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_34.obj b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..320edd1e130cea7593c767c439b74db739ec6d1a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_34.obj
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diff --git a/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_4.obj b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb5dcd2dccc5cdae3c50ba6f2f1f1871645d606a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_4.obj
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diff --git a/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_5.obj b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..060a0ae2329399d2d90d84322f40c7c2bb4bb347
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_5.obj
@@ -0,0 +1,223 @@
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diff --git a/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_6.obj b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..113d86b4bd44da6d6271dccdd69f196d8f9b7976
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_6.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_7.obj b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e0b4d082f06b9234f05c43bc4ae86b0383f1ff9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_7.obj
@@ -0,0 +1,406 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_8.obj b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c2325adcda58e41c27432dc30d0b0b2510e68cc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_8.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v 0.00051151 0.00009376 -0.03071126
+v 0.00051151 -0.01610011 -0.02962537
+v 0.00051151 0.00009378 -0.03490173
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+v -0.00270477 0.00009378 -0.03493448
+v -0.00117397 0.00009378 -0.03492480
+v -0.00041124 0.00009378 -0.03491512
+f 1 2 6
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+
diff --git a/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_9.obj b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a9ef354f280292562484e4a008c3e5c6fb646b8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mesh/mug_019_collision_9.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
+v 0.01788870 0.01237189 -0.02564654
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diff --git a/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mug_019.xml b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mug_019.xml
new file mode 100644
index 0000000000000000000000000000000000000000..04695089f9c62391a25bacef20a3c5bb79ea8ec8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mjcf/mug_019.xml
@@ -0,0 +1,84 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mug_019">
+  <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_019.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/mug_019_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mug_019_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/mug_019_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/mug_019_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/mug_019_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/mug_019_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/mug_019_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/mug_019_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/mug_019_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/mug_019_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/mug_019_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/mug_019_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/mug_019_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/mug_019_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/mug_019_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/mug_019_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/mug_019_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/mug_019_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/mug_019_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/mug_019_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/mug_019_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/mug_019_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/mug_019_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/mug_019_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/mug_019_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/mug_019_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/mug_019_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/mug_019_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/mug_019_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/mug_019_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/mug_019_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/mug_019_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/mug_019_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/mug_019_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/mug_019_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mug_019">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mug_019.urdf b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mug_019.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..bc492ed0501483a218c01a8895c42444d9ca48fb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mug_019.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mug_019">
+   <link name="mug_019">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mug_019.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_019_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>5c4fb0d872af550aad3f70c4c68c7932</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>mug</category>
+         <name>ribbed mug</name>
+         <color>green,beige</color>
+         <shape>cylinder</shape>
+         <material>ceramic</material>
+         <description>dark green ribbed mug with curved handle and beige base</description>
+         <min_height>0.0782</min_height>
+         <max_height>0.0782</max_height>
+         <real_height>0.0782</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609202517</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.037583 -0.033804 -0.038008</min>
+            <max>0.055341 0.033991 0.040219</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mug_019.usd b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mug_019.usd
new file mode 100644
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+++ b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mug_019.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e51736d8cface5b96f3577c6001d465100dbd98f22eef70545b60a66521a6e0
+size 4940482
diff --git a/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/textures/material_0.png b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/textures/material_0.png
new file mode 100644
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diff --git a/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/video.mp4 b/dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/video.mp4
new file mode 100644
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+size 203014