diff --git a/.gitattributes b/.gitattributes
index 2c5a462fd1bfdac630cf737346568a38854d4293..a633422af05c954c2a607d1c54cf4d6dbed62c74 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4834,5 +4834,5 @@ dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/wine_glass_039.us
 dataset/kitchen_supplies/ware/dab02590cf5e59dfa91cb1257b393b18/dab02590cf5e59dfa91cb1257b393b18.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/dab02590cf5e59dfa91cb1257b393b18/mesh/bottle.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/dab02590cf5e59dfa91cb1257b393b18/mesh/bottle_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/coffee_cup_018.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mesh/coffee_cup_018.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mesh/mug_012.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mug_012.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mesh/material.mtl b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d8687766c010980b72e35f1d12f6eac263c490b9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mug_012_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_012_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mesh/material_0.png b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b0faa6487ee20eaed2caef669d9289faf8b41085
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:542702d09652f37b191120f93262b233c45192c0b3b0763003cf212e3e2b44af
+size 7412534
diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mesh/mug_012.glb b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mesh/mug_012.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3362cbbd918aad6bdd861010f7972801982a272c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mesh/mug_012.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aadb8a2ea40983d441bb3b13f034ea1c3d8f809f4ac6b06cd22b43aed8f917dc
+size 10645668
diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mesh/mug_012.mtl b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mesh/mug_012.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ecc1e9770967fef7873deb5e07157ecc98c54bb0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mesh/mug_012.mtl
@@ -0,0 +1,6 @@
+newmtl mug_012_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/d881c62c8800571bb4885c578746eae8/mesh/mug_012.obj b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mesh/mug_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..563325c7a28c72ff7c24a7aa4b3fbfb448f26f6e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mesh/mug_012.obj
@@ -0,0 +1,105376 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mug_012_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mesh/mug_012_collision.obj b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mesh/mug_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98e60d8e2e7d72404bfd04688d13c74c292fcb55
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mesh/mug_012_collision.obj
@@ -0,0 +1,15030 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision.obj b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22ceaeee305d1e7a6f48e8ad830599197b087f7b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision.obj
@@ -0,0 +1,15030 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_0.obj b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0790cbfd05475bbd0a34069d067d7b5a85995b92
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_1.obj b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ad3e02b9f9f5de060c49b7d4b6dd680cda75c19
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_1.obj
@@ -0,0 +1,478 @@
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diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_10.obj b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2ac5671c7e2d0bd3a1e54c017589c72db354bd4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_10.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_11.obj b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6af073aa455bb2d83ac4d62f9786b4ee059c51a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_11.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_12.obj b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e187e7abe2811e3fc0d165c435cb31b6e6121cec
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_12.obj
@@ -0,0 +1,544 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_13.obj b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d90e4f2d7927288df4f99c945bc80ceff851a38
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_13.obj
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diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_14.obj b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4e3e6ba42a905c97908393943f6abc774a78c1f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_14.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_15.obj b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..199b66a7e19f62d2e96df46b9c06a1402f7648e8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_15.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_16.obj b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14b26a9fe5c5e93610874b0ce877d78785dd5771
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_16.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_17.obj b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a31065f52de26828ef482c1cc2b07bc4045a4fce
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_17.obj
@@ -0,0 +1,523 @@
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diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_18.obj b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2759ca095c0c16804a4b2c794ab2f1ad65e9db80
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_18.obj
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diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_19.obj b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..454f18ba58182df1f731e1c459a74349ad0e722e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_19.obj
@@ -0,0 +1,538 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_2.obj b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..091d1828750c306a1a9d5e1aea7f5a4916efcbde
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_2.obj
@@ -0,0 +1,25 @@
+# https://github.com/mikedh/trimesh
+v -0.00046503 0.01329176 -0.02860355
+v -0.00046503 0.01295092 -0.02860355
+v -0.00046503 0.01329177 -0.03283650
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+
diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_20.obj b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01eac6de8611091471a4a56ad4841f6a2a81764e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_20.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_21.obj b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d05f3b1e2a04fc828f3958294ff77e6284b0e223
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_21.obj
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diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_22.obj b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..103dd76e43095a010c023844cbbdf6b10e94cb18
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_22.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_23.obj b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77157d3a22eb4b9a6ef036512f888597fcddadcd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_23.obj
@@ -0,0 +1,559 @@
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diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_24.obj b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8461db90c20ba3a1ef6115b300d2d2b5335cd7d0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_24.obj
@@ -0,0 +1,328 @@
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diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_25.obj b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93b883236171efed767fd345b36b7b373992ff15
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_25.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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+f 58 70 71
+f 58 71 59
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+f 60 73 74
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+
diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_26.obj b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9ab8a1f1e7894808e066f2f474e91d160c37c8d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_26.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.00046503 0.02222887 -0.02850096
+v 0.00122741 0.02118322 -0.02850096
+v -0.00046503 0.02499975 -0.02604759
+v -0.00046503 0.03071359 -0.02850093
+v 0.01024931 0.01628022 -0.02850098
+v -0.00046503 0.03094401 -0.02604757
+v 0.01090248 0.01988383 -0.02604761
+v -0.00046503 0.03075588 -0.02830880
+v -0.00044834 0.03071213 -0.02850093
+v 0.01090248 0.01604543 -0.02850098
+v -0.00012677 0.03089151 -0.02604757
+v 0.00025267 0.03076172 -0.02724699
+v -0.00046503 0.03086818 -0.02724699
+v 0.01090248 0.02704145 -0.02604758
+v 0.00003903 0.03072088 -0.02812002
+v -0.00046503 0.03083756 -0.02761878
+v 0.00041957 0.03057797 -0.02850093
+v 0.01090248 0.02675707 -0.02850094
+v 0.00045963 0.03079964 -0.02604757
+v 0.00102823 0.03061880 -0.02724699
+v 0.01090248 0.02694374 -0.02727967
+v 0.01024486 0.02732583 -0.02724700
+v 0.01032832 0.02737104 -0.02604758
+v 0.00226223 0.03035484 -0.02724699
+v 0.00226223 0.03018421 -0.02850093
+v 0.00957056 0.02751250 -0.02850094
+v 0.00934690 0.02767292 -0.02830448
+v 0.01090248 0.02681540 -0.02813492
+v 0.00123408 0.03065526 -0.02604757
+v 0.00151115 0.03059693 -0.02604757
+v 0.00946930 0.02773708 -0.02724700
+v 0.01015362 0.02746437 -0.02604758
+v 0.00226223 0.03042775 -0.02604757
+v 0.00381225 0.03002671 -0.02604757
+v 0.00381225 0.02995233 -0.02724699
+v 0.00381225 0.02977879 -0.02850093
+v 0.00903868 0.02777938 -0.02850094
+v 0.00846006 0.02821834 -0.02724700
+v 0.00868706 0.02819355 -0.02604758
+v 0.00955387 0.02777938 -0.02604758
+v 0.00539008 0.02952941 -0.02604757
+v 0.00550135 0.02940691 -0.02733778
+v 0.00611112 0.02915023 -0.02791443
+v 0.00543681 0.02927419 -0.02850093
+v 0.00853573 0.02799959 -0.02850094
+v 0.00680657 0.02892127 -0.02733778
+v 0.00739631 0.02876377 -0.02604757
+v 0.00846006 0.02830147 -0.02604758
+v 0.00561374 0.02945357 -0.02604757
+v 0.00622128 0.02919253 -0.02688289
+v 0.00664411 0.02882648 -0.02850093
+v 0.00595311 0.02909482 -0.02850093
+v 0.00702800 0.02892127 -0.02604757
+v 0.00683327 0.02900148 -0.02604757
+v 0.00628582 0.02921732 -0.02604757
+f 1 2 3
+f 1 3 6
+f 1 6 13
+f 1 13 16
+f 1 16 8
+f 1 8 4
+f 1 4 9
+f 1 9 17
+f 1 17 25
+f 1 25 36
+f 1 36 44
+f 1 44 52
+f 1 52 51
+f 1 51 45
+f 1 45 37
+f 1 37 26
+f 1 26 18
+f 1 18 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 5 7
+f 3 7 14
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+f 3 23 32
+f 3 32 40
+f 3 40 39
+f 3 39 48
+f 3 48 47
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+f 3 55 49
+f 3 49 41
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+f 3 29 19
+f 3 19 11
+f 3 11 6
+f 4 8 9
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+f 6 11 12
+f 6 12 13
+f 7 10 18
+f 7 18 28
+f 7 28 21
+f 7 21 14
+f 8 15 9
+f 8 16 15
+f 9 15 17
+f 11 19 12
+f 12 15 16
+f 12 16 13
+f 12 19 20
+f 12 20 15
+f 14 21 22
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+f 15 24 25
+f 15 25 17
+f 18 26 27
+f 18 27 28
+f 19 29 20
+f 20 30 24
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+f 22 27 31
+f 22 31 32
+f 22 32 23
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+f 24 33 34
+f 24 34 35
+f 24 35 25
+f 25 35 36
+f 26 37 27
+f 27 37 38
+f 27 38 31
+f 31 38 39
+f 31 39 40
+f 31 40 32
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+f 35 41 42
+f 35 42 43
+f 35 43 36
+f 36 43 44
+f 37 45 43
+f 37 43 38
+f 38 43 46
+f 38 46 47
+f 38 47 48
+f 38 48 39
+f 41 49 42
+f 42 49 50
+f 42 50 43
+f 43 50 46
+f 43 45 51
+f 43 51 52
+f 43 52 44
+f 46 53 47
+f 46 50 54
+f 46 54 53
+f 49 55 50
+f 50 55 54
+
diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_27.obj b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0578e43e09ff4ea37a2d4ceebac5f1872bd4e83c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_27.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.01157009 0.00802469 -0.02860262
+v 0.01157009 0.00802470 -0.03341206
+v 0.01156067 0.00802469 -0.02860215
+v 0.01157009 -0.00016060 -0.02860547
+v 0.01157009 -0.00016460 -0.03304532
+v -0.00046503 -0.00016460 -0.03268702
+v -0.00046503 0.00802470 -0.03272136
+v 0.01156067 -0.00016461 -0.02860547
+v 0.00071185 0.00802469 -0.02860733
+v 0.01157009 -0.00016460 -0.03299211
+v -0.00046503 -0.00016461 -0.02861630
+v -0.00046503 0.00802469 -0.02860921
+v 0.00071185 -0.00016461 -0.02861489
+v 0.00041498 0.00802469 -0.02860780
+f 1 2 7
+f 1 7 12
+f 1 12 14
+f 1 14 9
+f 1 9 3
+f 1 3 4
+f 1 4 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 4
+f 3 9 8
+f 4 8 10
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+f 5 8 13
+f 5 13 11
+f 5 11 6
+f 6 11 12
+f 6 12 7
+f 8 9 13
+f 9 14 11
+f 9 11 13
+f 11 14 12
+
diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_28.obj b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92e5af3a96b2e50d5b1662bbdd37a8a1e7ab1730
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_28.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.02896756 -0.00016547 -0.01442682
+v 0.02722025 -0.00016549 -0.00786486
+v 0.02896756 -0.00094174 -0.01442682
+v 0.02896756 -0.00016544 -0.02263988
+v 0.02144779 -0.00016549 -0.00786486
+v 0.02722025 -0.00020852 -0.00786486
+v 0.02896756 -0.00248567 -0.01447633
+v 0.02721927 -0.00094176 -0.00786486
+v 0.02896756 -0.00094171 -0.02263811
+v 0.02654287 -0.00094169 -0.02592439
+v 0.02654287 -0.00016542 -0.02592439
+v 0.02003722 -0.00895746 -0.00786489
+v 0.02045031 -0.00016542 -0.02592439
+v 0.01896731 -0.00895739 -0.02592442
+v 0.02896756 -0.00403562 -0.01465133
+v 0.02714977 -0.00248569 -0.00786487
+v 0.02896756 -0.00248564 -0.02261514
+v 0.02647141 -0.00247701 -0.02592440
+v 0.02599372 -0.00895746 -0.00786489
+v 0.02528794 -0.00895739 -0.02592442
+v 0.02896756 -0.00513375 -0.01514278
+v 0.02700784 -0.00402962 -0.00786487
+v 0.02896756 -0.00284107 -0.02257978
+v 0.02633926 -0.00385571 -0.02592440
+v 0.02896756 -0.00402957 -0.02244896
+v 0.02896756 -0.00594186 -0.01627946
+v 0.02609552 -0.00861752 -0.00786489
+v 0.02572354 -0.00895743 -0.01611684
+v 0.02896756 -0.00645133 -0.01794293
+v 0.02896756 -0.00637819 -0.01706435
+v 0.02530556 -0.00895740 -0.02569815
+v 0.02537702 -0.00865962 -0.02592442
+v 0.02896756 -0.00510447 -0.02206714
+v 0.02896756 -0.00526970 -0.02186208
+v 0.02896756 -0.00584631 -0.02105597
+v 0.02896756 -0.00598831 -0.02079788
+v 0.02896756 -0.00631363 -0.02007133
+v 0.02896756 -0.00634117 -0.01989278
+v 0.02896756 -0.00641690 -0.01929881
+v 0.02678269 -0.00557183 -0.00786488
+v 0.02661922 -0.00638252 -0.00786488
+v 0.02645771 -0.00717428 -0.00786489
+v 0.02629032 -0.00790752 -0.00786489
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+v 0.02560020 -0.00895742 -0.01950918
+v 0.02553756 -0.00895741 -0.02105598
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+v 0.02547197 -0.00895741 -0.02260278
+v 0.02541128 -0.00895740 -0.02385259
+v 0.02580969 -0.00689107 -0.02592442
+f 1 2 6
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+f 1 30 29
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+f 1 39 38
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+f 1 9 4
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+f 39 55 56
+f 39 56 57
+f 39 57 50
+f 45 51 58
+f 45 58 46
+
diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_29.obj b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c0ce6dc58d065ca04390cb5f45f58e01e3ad6a9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_29.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.03020175 0.00060256 -0.01513903
+v 0.03020175 -0.00016466 -0.01513903
+v 0.03020175 0.00214582 -0.01516891
+v 0.02722067 0.00060253 -0.00786318
+v 0.02722067 0.00019928 -0.00786318
+v 0.02721942 -0.00016469 -0.00786318
+v 0.03020175 -0.00016464 -0.02234914
+v 0.03020175 0.00217949 -0.01517090
+v 0.02718815 0.00133447 -0.00786318
+v 0.03020175 0.00368747 -0.01532630
+v 0.02144857 -0.00016469 -0.00786318
+v 0.02629408 -0.00016462 -0.02821644
+v 0.03020175 0.00060258 -0.02234914
+v 0.02715189 0.00214579 -0.00786317
+v 0.03020175 0.00377967 -0.01533626
+v 0.02022812 0.00802461 -0.00786315
+v 0.01742835 0.00802468 -0.02821641
+v 0.01883387 -0.00016462 -0.02821644
+v 0.02629408 -0.00009327 -0.02821644
+v 0.03020175 0.00214584 -0.02233518
+v 0.02629158 0.00060260 -0.02821644
+v 0.02708437 0.00287854 -0.00786317
+v 0.03020175 0.00393440 -0.01540400
+v 0.02677800 0.00523231 -0.00786316
+v 0.02689930 0.00442099 -0.00786316
+v 0.02700809 0.00368985 -0.00786317
+v 0.02616403 0.00802461 -0.00786315
+v 0.02519243 0.00802468 -0.02821641
+v 0.03020175 0.00364821 -0.02218775
+v 0.02625406 0.00163678 -0.02821643
+v 0.03020175 0.00528605 -0.01638420
+v 0.02628908 0.00756604 -0.00786315
+v 0.02631659 0.00744658 -0.00786315
+v 0.02645414 0.00683489 -0.00786315
+v 0.03020175 0.00530449 -0.01640213
+v 0.03020175 0.00532052 -0.01642603
+v 0.03020175 0.00604366 -0.01779075
+v 0.03020175 0.00605889 -0.01792224
+v 0.03020175 0.00606611 -0.01917141
+v 0.02591394 0.00802464 -0.01641606
+v 0.02551004 0.00677644 -0.02821642
+v 0.02533998 0.00802468 -0.02724616
+v 0.03020175 0.00595227 -0.01994641
+v 0.03020175 0.00533016 -0.02105811
+v 0.03020175 0.00461345 -0.02193671
+v 0.03020175 0.00368589 -0.02218377
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+v 0.02558882 0.00802467 -0.02387122
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+v 0.02576139 0.00802466 -0.02060187
+v 0.02562509 0.00620002 -0.02821642
+v 0.02581641 0.00523238 -0.02821642
+v 0.02612402 0.00304215 -0.02821643
+v 0.02604399 0.00367870 -0.02821643
+v 0.02590269 0.00464714 -0.02821642
+f 1 2 7
+f 1 7 13
+f 1 13 20
+f 1 20 29
+f 1 29 46
+f 1 46 45
+f 1 45 44
+f 1 44 43
+f 1 43 39
+f 1 39 38
+f 1 38 37
+f 1 37 36
+f 1 36 35
+f 1 35 31
+f 1 31 23
+f 1 23 15
+f 1 15 10
+f 1 10 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 11
+f 2 11 18
+f 2 18 12
+f 2 12 7
+f 3 8 4
+f 4 9 14
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+f 4 22 26
+f 4 26 25
+f 4 25 24
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+f 4 32 27
+f 4 27 16
+f 4 16 11
+f 4 11 6
+f 4 6 5
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+f 16 42 28
+f 16 28 17
+f 20 21 30
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+f 23 31 27
+f 23 27 32
+f 23 32 33
+f 23 33 34
+f 23 34 24
+f 27 31 35
+f 27 35 36
+f 27 36 37
+f 27 37 38
+f 27 38 39
+f 27 39 40
+f 28 42 39
+f 28 39 43
+f 28 43 44
+f 28 44 45
+f 28 45 41
+f 29 30 46
+f 30 47 46
+f 39 48 49
+f 39 49 40
+f 39 42 50
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+f 39 54 48
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+f 45 46 56
+f 45 56 55
+f 46 47 57
+f 46 57 58
+f 46 58 59
+f 46 59 56
+
diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_3.obj b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e1738283132d83eed48f335a25ab4a3107c1fb8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_3.obj
@@ -0,0 +1,541 @@
+# https://github.com/mikedh/trimesh
+v 0.00813755 -0.02882182 -0.02604454
+v 0.00813755 -0.02873821 -0.02724795
+v 0.00846138 -0.02860015 -0.02724795
+v 0.00846138 -0.02868182 -0.02604454
+v 0.00813755 -0.02216404 -0.02604451
+v 0.00813755 -0.02869932 -0.02751284
+v 0.00813755 -0.02850486 -0.02880166
+v 0.00857212 -0.02830847 -0.02885247
+v 0.00937751 -0.02802849 -0.02837457
+v 0.00951342 -0.02810043 -0.02724794
+v 0.00959564 -0.02814321 -0.02604453
+v 0.01893481 -0.00895739 -0.02604446
+v 0.00813755 -0.00895738 -0.02860697
+v 0.00813755 -0.02816264 -0.02999749
+v 0.00916274 -0.02791958 -0.02940606
+v 0.00994128 -0.02762014 -0.02885247
+v 0.01141616 -0.02679181 -0.02879517
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diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_30.obj b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4dba1440ce401e71eee2dcc79987a1e5835c06d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_30.obj
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diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_31.obj b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea1dd00c8cbd209f41c6a628f8ccf3d31bbd8895
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_31.obj
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+
diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_32.obj b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..323b212f1d3d6233bc7c2d7911be06f4cb7da74b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_32.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.02816801 -0.00895761 0.03194642
+v 0.02863432 -0.00895762 0.03465235
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+
diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_33.obj b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b193f9304c5430dc3d6f0a4753df15fb54428fc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_33.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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+v 0.01776194 0.00677648 -0.03706595
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+
diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_34.obj b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b3b0937327d5f7f03fdc1ff2ae2efb92341882d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_34.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.02003674 -0.00895746 -0.00786489
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diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_35.obj b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..292cffeabb93b55f1e735ef9cefa88bce002647b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_35.obj
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diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_36.obj b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..971056e66327e2ddff6b3633f60ef662c2382744
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_36.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_37.obj b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1121ca05b3bcad048c67398e4d6d0fad52e5687
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_37.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_38.obj b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c8c9c69cdd23bd680ce31edc47f319a0b5b4e5b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_38.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_39.obj b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..257e01c82efd6c54033255a559b69d1f6448c014
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_39.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_4.obj b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14345d361088d243d1692701199122de2ebd237a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_4.obj
@@ -0,0 +1,577 @@
+# https://github.com/mikedh/trimesh
+v -0.03664185 -0.00094362 -0.02703760
+v -0.03662828 -0.00094362 -0.02724800
+v -0.03655553 -0.00248596 -0.02724801
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diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_40.obj b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fb8cd462ea0c045e7b428ad0a5b9e6dfd222279
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_40.obj
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diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_41.obj b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2c8e4d7f1638e517b907f66b7656a69635277c0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_41.obj
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diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_42.obj b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..daba08d9e10f2f839d448cf52780b41c7df9d770
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_42.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_5.obj b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebcf515a6f917d092f76a929029d149ee0edc536
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_5.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v -0.00046503 -0.00020612 -0.02861656
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+
diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_6.obj b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15936b4e4269f05394964c57636c610b38c26961
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_6.obj
@@ -0,0 +1,415 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_7.obj b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb96aa30a8a42f23d917a2bec3932f9ab37c8a44
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_7.obj
@@ -0,0 +1,256 @@
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diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_8.obj b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08b9b7c0c8df40584425b62b4087e75a7accd9d2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_8.obj
@@ -0,0 +1,250 @@
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diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_9.obj b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b386bf82d8b400746c2a49193debb22f11ae1bd1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mesh/mug_012_collision_9.obj
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diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mug_012.xml b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mug_012.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b75e5fb5cbf401ffefb39f4dad8b34e6bd3f36c5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mjcf/mug_012.xml
@@ -0,0 +1,100 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mug_012">
+  <asset>
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+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/mug_012.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/mug_012_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mug_012_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/mug_012_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/mug_012_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/mug_012_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/mug_012_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/mug_012_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/mug_012_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/mug_012_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/mug_012_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/mug_012_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/mug_012_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/mug_012_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/mug_012_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/mug_012_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/mug_012_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/mug_012_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/mug_012_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/mug_012_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_21" file="mesh/mug_012_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/mug_012_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/mug_012_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/mug_012_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/mug_012_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/mug_012_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/mug_012_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/mug_012_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/mug_012_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/mug_012_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/mug_012_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/mug_012_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/mug_012_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/mug_012_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/mug_012_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/mug_012_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/mug_012_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/mug_012_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/mug_012_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/mug_012_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/mug_012_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/mug_012_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mug_012">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mug_012.urdf b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mug_012.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ba3032dade7b8d4cf8d548bd91f56f1f58b51279
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mug_012.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mug_012">
+   <link name="mug_012">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mug_012.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_012_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>d881c62c8800571bb4885c578746eae8</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>mug</category>
+         <name>gray mug</name>
+         <color>gray,black</color>
+         <shape>cylinder</shape>
+         <material>ceramic</material>
+         <description>dark gray cylindrical mug with side handle and small printed logo</description>
+         <min_height>0.0765</min_height>
+         <max_height>0.0765</max_height>
+         <real_height>0.0765</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609202208</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.039298 -0.034832 -0.036854</min>
+            <max>0.054863 0.034487 0.039657</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/d881c62c8800571bb4885c578746eae8/mug_012.usd b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mug_012.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/mug_012.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:678a1590bd4ef86eef7233922c5d9ba15be6193a85b9753a876ceae886df16f0
+size 4850130
diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/textures/material_0.png b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:542702d09652f37b191120f93262b233c45192c0b3b0763003cf212e3e2b44af
+size 7412534
diff --git a/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/video.mp4 b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91b0dd94bc3abb7c1a832cbec0f8558002f0c674290fa397a2a120ba4f8314b1
+size 131529