diff --git a/.gitattributes b/.gitattributes
index c5a890e26531d86e5aa15eaf4a37086fa37ffdc9..2042831c9bda8973db4e7f25b9a83a7123818bd9 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4672,5 +4672,5 @@ dataset/kitchen_supplies/ware/2e33adcd7d415b21a100b38aed1d60c4/mesh/water_bottle
 dataset/kitchen_supplies/ware/24320ba87e5e548f88893ad00a732ae8/mesh/mug_013.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/24320ba87e5e548f88893ad00a732ae8/mug_013.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/34c4f3a5b7a35e1ab98a5c5b660c2257/34c4f3a5b7a35e1ab98a5c5b660c2257.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/32fe4efa41575b178eb6b0ecd59f88ae/mesh/mug_003.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/32fe4efa41575b178eb6b0ecd59f88ae/mug_003.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mesh/mug_035.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mug_035.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mesh/material.mtl b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c3ed087ba0160694d9e0903e5cfd860edd9c67a3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mug_035_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_035_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mesh/material_0.png b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1b1ce6af61ec2cf5331cbb67ee275a661994f1e6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c8991c0d135a0c8c97b8c9432ed1c1508e1770efda4dc4123507de31c8ec6cf
+size 8268941
diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mesh/mug_035.glb b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mesh/mug_035.glb
new file mode 100644
index 0000000000000000000000000000000000000000..bb36ea7420399cd8f46755cd879b594eb2f9600a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mesh/mug_035.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:faac7436253cb72d19e593c010d9a6130811aec9bbbd60e1afc00ada98ae7d06
+size 11539640
diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mesh/mug_035.mtl b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mesh/mug_035.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f9cac70c47d858d74c77bc65690cbead15414f2e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mesh/mug_035.mtl
@@ -0,0 +1,6 @@
+newmtl mug_035_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/2ff144abce89559ba07d5ff411f07f26/mesh/mug_035.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mesh/mug_035.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3d2afb2af58af22a4524698dc586180f5b0a658
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mesh/mug_035.obj
@@ -0,0 +1,104030 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mug_035_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mesh/mug_035_collision.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mesh/mug_035_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0dc229d697be68a4723b0578d27b9143bd2dcfee
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mesh/mug_035_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mesh/mug_035_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mesh/mug_035_geometry_Looks_material_0.png
new file mode 100644
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1b1ce6af61ec2cf5331cbb67ee275a661994f1e6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c8991c0d135a0c8c97b8c9432ed1c1508e1770efda4dc4123507de31c8ec6cf
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91ec758e1a07d02615e81aaa2cf89d9c74bb5998
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+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035.obj
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..374e27336bbe4c214cbe3d0ed2ac50f00d3ba662
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision.obj
@@ -0,0 +1,27277 @@
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_0.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04e5d4450bfd2af45b11d1b402041ed91f0d1efc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_1.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ba3afbd02b77bc1de5b25bca2733d33b88c53a5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_10.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06f03d9e47ddb8bacd770c34f26d9dee3391018f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_10.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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+v -0.04179310 0.06055273 -0.04880188
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+
diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_11.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7230662ca1c5f14bea50ed74f96d041cd4be758
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_11.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v 0.06343035 0.02904383 -0.03930002
+v 0.06363078 0.02854043 -0.03930003
+v 0.06335327 0.02784649 -0.04077955
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+
diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_12.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab2f511a2d9ca0e550a7480a36b7b8586867ca64
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_12.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
+v -0.05841023 0.02615617 -0.03902845
+v -0.06467724 0.00002995 -0.03903812
+v -0.05842364 0.02612036 -0.03903802
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_13.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fe819ab05316d42156f2a16fab21b9b156a70be
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_13.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_14.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3540bef3721148aca5de7e1cddd0b668a6858b37
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_14.obj
@@ -0,0 +1,748 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_15.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b0e280c42cdfb03a59927db16b4f03f8e2f277b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_15.obj
@@ -0,0 +1,394 @@
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_16.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbf518367a7f2e4f130c61e5e1b6cf944b35eeb7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_16.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_17.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d47cc40f6d88076c744d4bb0a2271ee83d84af8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_17.obj
@@ -0,0 +1,886 @@
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_18.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e3307b14e8e303a5357c6af752ca3b55617a396
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_18.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_19.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca3621cb3765842a4563f5d88f6b7158333d6d5f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_19.obj
@@ -0,0 +1,475 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_2.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0ff841127754c30989b34e652d1ecd6065cdbb4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_20.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4082fff9d0160196940660344194a7e74f88f1b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_20.obj
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_21.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67a88a7daacf4ef8b71a8336cc42c946ea468ace
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_21.obj
@@ -0,0 +1,460 @@
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_22.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..423aeeb7068c96b45cbd86dafbdc22143ba9a62c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_22.obj
@@ -0,0 +1,223 @@
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_23.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa6bb089f86adc792de81d2a6737025cc9e7f980
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_23.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_24.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a865cc0e1a6d8acddb75c733c5918b5b918fd7aa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_24.obj
@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_25.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bf250909eb9a090842799ba01acaf6e257813c9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_25.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_26.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4dc8ea2d6db4dc59ab1aa85cf9f9931a6d7934ca
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_26.obj
@@ -0,0 +1,661 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_27.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c7dbbb799cd9ff4df6ebe0434bf23bbc37e9d17
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_27.obj
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_28.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0ee7c5dfcb8cee34e2c442b59555ca0d058fbc1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_28.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_29.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97ed635c13a93056e295565b4504745699bae057
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_29.obj
@@ -0,0 +1,847 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_3.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e067d9a1e7fe81e93a6c418c3a13b3d943aea7a6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_3.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_30.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb1cf07ed9ea077bb2259205e4d547d4a93f23b1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_30.obj
@@ -0,0 +1,448 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_31.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af18b9e945cbc9b560ebbf4883e59c936d5cd95b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_31.obj
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_32.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06b7581110da56fb135501f8dc13acd960fab739
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_32.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_33.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e0c37e4a6c69dd327f8a4ae62895887257ab857
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_33.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_34.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c16bc4778face133bd9c0b46cb30fc39d7541f03
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_34.obj
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_35.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c49e712a7c01d1c0852b1aacbf417319502e76ea
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_35.obj
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_36.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2506ff0a0069640e246e4d56a0333bd2f7254947
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_36.obj
@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_37.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..969acaaf2d5c102a688436c72139b8be65229555
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_37.obj
@@ -0,0 +1,727 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_38.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..755242b1ae48771ba4a59fab5f2070555be69619
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_38.obj
@@ -0,0 +1,409 @@
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_39.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f16f5418a57dcc41d84895af79bba70252efebb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_39.obj
@@ -0,0 +1,406 @@
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_4.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4ddac0cc82a8c7a74686ba1adce491bd2ba7d48
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_4.obj
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_40.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43de4a9f4f57df1b6974e2a30b5284641b846625
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_40.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v 0.09613133 0.00032041 0.07020840
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_41.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4a787aab6854f253960c7eff99d9c99c3e6e4bc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_41.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.07014736 -0.00001107 -0.03924057
+v 0.07013196 -0.00174673 -0.03924058
+v 0.06624562 -0.00174670 -0.04644332
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+
diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_42.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1eee6335f3d7e03523f18dae19dc3a24ca257fa7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_42.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.04438215 0.02904383 -0.03930002
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+v 0.06342806 0.02904383 -0.03930002
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+
diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_43.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3c02a04f36f020793b5470b6f128f17dc19ee2d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_43.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_44.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e79726050e6b2b11b71881898137ae23a290a40e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_44.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_45.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48ac49aa6ba0ee0d34f7e6e5477e15f7cd4f02c3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_45.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_46.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..690293562b1e5af9e15b15b7694ce21d9f602d60
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_46.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_47.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da7c66e31e60f46eed175d4461b1ce6755a01a09
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_47.obj
@@ -0,0 +1,697 @@
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_48.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1094c07afe3193feffff3a16585b94617707f20
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_48.obj
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_49.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5514d1c1189b2d8f56acfe90b7a8e03fb0d0c0e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_49.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_5.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72b0ed6af01d797e245eb3bec22689ad4629bffa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_5.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_50.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc6929abe9e1981e97404152fcfc6dc0dc40eaf4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_50.obj
@@ -0,0 +1,595 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_51.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c124384adf6c6ded31a5aa9e7453697096441ec
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_51.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_52.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..253a168cb839429551cb13f8c6f5804cec6dcef6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_52.obj
@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_53.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae1840dcc391500410683e7f51e088d24cc79295
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_53.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_54.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7759465a22dfce982fa42f2b5e29cb1baf0916c7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_54.obj
@@ -0,0 +1,436 @@
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_55.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..705b5d8ea7f72b1a27b7718e27a0b2b14437c789
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_55.obj
@@ -0,0 +1,445 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_6.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db5313861943001f2c0a41ab4a3fb59250651b54
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_6.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_7.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61c0c1ab0f8bcbf637a3541dde8afef670e06ea7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_8.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ded8769919b4737534e276c8cc1d4588cefd05a6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_8.obj
@@ -0,0 +1,604 @@
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_9.obj b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33c1e7eaee23cd2747b64bb475210c5abc5b9b90
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mesh/mug_035_collision_9.obj
@@ -0,0 +1,424 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mug_035.xml b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mug_035.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5d653ac3562362f60530df7197d91c5d03cdc62c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mjcf/mug_035.xml
@@ -0,0 +1,126 @@
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+      <geom type="mesh" mesh="collision_mesh_0_51" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_52" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_53" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_54" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_55" 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/2ff144abce89559ba07d5ff411f07f26/mug_035.urdf b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mug_035.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cf2e2929950e805fc17954bb800fa93f3a514b13
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mug_035.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mug_035">
+   <link name="mug_035">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mug_035.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_035_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>2ff144abce89559ba07d5ff411f07f26</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>mug</category>
+         <name>green mug</name>
+         <color>green</color>
+         <shape>cylinder</shape>
+         <material>ceramic</material>
+         <description>matte green rounded mug with loop handle</description>
+         <min_height>0.1500</min_height>
+         <max_height>0.1500</max_height>
+         <real_height>0.1500</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611160518</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.085102 -0.078157 -0.067344</min>
+            <max>0.122798 0.078067 0.082656</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mug_035.usd b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mug_035.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/mug_035.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e0d2710c4611f1752b2655bae501b0a39f84d230a2e02484a026387ff426872
+size 4864309
diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/textures/material_0.png b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c8991c0d135a0c8c97b8c9432ed1c1508e1770efda4dc4123507de31c8ec6cf
+size 8268941
diff --git a/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/video.mp4 b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/video.mp4
@@ -0,0 +1,3 @@
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+oid sha256:0582bbd73528394402f53e79a5105b845671b53dc792b0996333d785ffc3fd73
+size 116837