diff --git a/.gitattributes b/.gitattributes
index a633422af05c954c2a607d1c54cf4d6dbed62c74..71e11a575210262850885b5d2d89b3dcc0a1ca0d 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/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
+dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mesh/mug_020.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mug_020.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mesh/material.mtl b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..87f089ce206219b6c1634e5f8a4b006ad98e657e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mug_020_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd mug_020_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mesh/material_0.png b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8b7f0e00de9e5257ff4e6f99585f32409a69416f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e7f1e2722fca98e6b0d6d80455877a537ca160df5938e9ed5b3c415383310da
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diff --git a/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mesh/mug_020.glb b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mesh/mug_020.glb
new file mode 100644
index 0000000000000000000000000000000000000000..15cb78db293bc07af7378b9bfc1b1e524bbac62c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mesh/mug_020.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39ed7c952f7809ccb36d08afa5d0596996574261374af9e190f4aa99c65903b7
+size 10537920
diff --git a/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mesh/mug_020.mtl b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mesh/mug_020.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8a1bd02f61ae8ec8c7dd2dc93464c3246f285ead
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mesh/mug_020.mtl
@@ -0,0 +1,6 @@
+newmtl mug_020_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mesh/mug_020.obj b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mesh/mug_020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0696afbf9335831a579f990d9bd96d7fbe25e32d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mesh/mug_020.obj
@@ -0,0 +1,104034 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mug_020_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mesh/mug_020_collision.obj b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mesh/mug_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9728ec54a81a11a89ce3d1e16bf4fb80bd7c1787
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mesh/mug_020_collision.obj
@@ -0,0 +1,14119 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mesh/mug_020_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mesh/mug_020_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020.obj b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020.obj
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index 0000000000000000000000000000000000000000..85ddf434155c3742bd1ee70265d7bb3f8c898db9
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+++ b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020.obj
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diff --git a/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision.obj b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ba6a36d5c2bbbca478034004ee22a6b5015808f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision.obj
@@ -0,0 +1,14119 @@
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diff --git a/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_0.obj b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffe56c6f881639b7c43353ccd95796b5c674d7f4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_0.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_1.obj b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25552e177645c332f67904fd553c7db4b53e724b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_1.obj
@@ -0,0 +1,694 @@
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diff --git a/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_10.obj b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..505fcffd71d9da4d8205309363efe86c7c386d84
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_11.obj b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b620fba8a430bf52f1c0b2d37bb706d2de9d12b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_11.obj
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diff --git a/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_12.obj b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..433074ac8abd8cb0843ce92a36d50f2ab5af95bb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_12.obj
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diff --git a/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_13.obj b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c16c4da3a7e5844375540722319ed10aa19ed814
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_13.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_14.obj b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a469edd2869d4e76068a12dcc87bf46822c883e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_14.obj
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diff --git a/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_15.obj b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c481dcabe601254052dae073d7c996e79ad8348b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_15.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_16.obj b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ee39cbe37bf9ce07fc8e375ae8eecaa3672f115
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_16.obj
@@ -0,0 +1,526 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_17.obj b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8adf8c59947f2875a83af735687b371581ecd05e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_17.obj
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diff --git a/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_18.obj b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14fa7f074f6d9e620807eca133cb9b951cbdfe57
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_18.obj
@@ -0,0 +1,379 @@
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diff --git a/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_19.obj b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73e6fe3a91a667ffda4e421c4ad0336e871de27d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_19.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_2.obj b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c552afede3141f167cd526526318b77493900461
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_20.obj b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e717b0f439b22c75ac5e1dccc5923f47f653ff1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_20.obj
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diff --git a/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_21.obj b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5dd5f9e3a6905736e1ce3a6cbaf1c1270a96aff7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_21.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_22.obj b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..521faa6af8be512f0ba14b5f7a5d92074a9e093d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_22.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_23.obj b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc452cbf8e38076aee258f01a4a0cb2fd43086ff
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_23.obj
@@ -0,0 +1,448 @@
+# https://github.com/mikedh/trimesh
+v 0.02346215 -0.00526643 -0.03145148
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diff --git a/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_24.obj b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a04cc03f91ede2011fe92b90e32eb5e3cfa84ea
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_24.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_25.obj b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..839e9b5f9247c549c9ef5585c6fd23cceeb53033
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_25.obj
@@ -0,0 +1,463 @@
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diff --git a/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_26.obj b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c5bcb3557e6517904feff02e75cd90490e8c6f5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_26.obj
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diff --git a/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_27.obj b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..391f47f3968b569e30bd9b01400d56c964e406e0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_27.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_28.obj b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50546577df3ca27e4c412f6bc1a887de9c70f8c7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_28.obj
@@ -0,0 +1,772 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_29.obj b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7220993031a7a64cc3aa70accd0bbd47beb71853
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_29.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_3.obj b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b06a9f8da877e3a028e8ef28d0f65bfba7eea9f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_3.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
+v 0.01507041 0.01690763 -0.02422092
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+v 0.01507041 0.02597804 -0.02422088
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diff --git a/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_30.obj b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b4bcf67ec2a4818ea8c7f492b75afe0f2262c13
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_30.obj
@@ -0,0 +1,418 @@
+# https://github.com/mikedh/trimesh
+v 0.02244241 -0.00526655 -0.00036888
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+v 0.02523535 -0.00526655 -0.00036888
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diff --git a/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_31.obj b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d717252913c08ea9b5675fe66185e92a0b59330
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_31.obj
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diff --git a/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_32.obj b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b420b7d972f0bc274fb053086ada85675420ce8e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_32.obj
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diff --git a/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_33.obj b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e95f2bece0b635cad8037a93ae18bfcee6410992
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_33.obj
@@ -0,0 +1,247 @@
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diff --git a/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_34.obj b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bea2ad8bf2557e0209e41ffc2d261b30967e1f09
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_34.obj
@@ -0,0 +1,394 @@
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diff --git a/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_4.obj b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..485fc6e60627cf88bf8ca6cf49e00b76bbc2c111
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_4.obj
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diff --git a/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_5.obj b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bab721c1d0c28e176b7dd42dcc52aa695b11083a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_5.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.00027108 0.01243563 -0.02656687
+v 0.00026726 0.00018474 -0.02660159
+v 0.00027108 0.00096901 -0.02660159
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+v -0.01924470 0.01243563 -0.02653903
+v -0.01924470 0.00018474 -0.02657007
+v 0.00027108 0.00018474 -0.02729557
+v 0.00027108 0.00018475 -0.03011349
+v -0.01924470 0.01243565 -0.03190591
+v -0.01924470 0.00018475 -0.03053114
+f 1 2 3
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+f 1 7 8
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+f 1 4 9
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+f 1 5 6
+f 1 6 2
+f 2 7 3
+f 2 6 10
+f 2 10 8
+f 2 8 7
+f 4 8 9
+f 5 9 10
+f 5 10 6
+f 8 10 9
+
diff --git a/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_6.obj b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..140283e6a2b69d2e4ecad7037c6491c72bedfadf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_6.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.00027108 0.00018474 -0.02729550
+v 0.00027108 0.00018475 -0.03011339
+v 0.00026637 0.00018474 -0.02660128
+v 0.00027108 0.00018039 -0.02660128
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+v -0.01306505 -0.01462356 -0.02654793
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+
diff --git a/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_7.obj b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f8ac7cb72d734dfebb03327bc8e8c5074eb23e2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_7.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_8.obj b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e319d6b2edfbbf99b4d09377db4ea457db101c7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_8.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
+v -0.02286589 -0.01764031 -0.02430040
+v -0.02286589 -0.02626154 -0.02430044
+v -0.02279695 -0.01769033 -0.02430040
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diff --git a/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_9.obj b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df06e8f835d57d72572066d0c76cc121767606d6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mesh/mug_020_collision_9.obj
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diff --git a/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mug_020.xml b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mug_020.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c16c926879c4ff8faa3f67964e4277b304d9e966
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mjcf/mug_020.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mug_020">
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+    <mesh name="collision_mesh_0_0" file="mesh/mug_020_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mug_020_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/mug_020_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/mug_020_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/mug_020_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/mug_020_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/mug_020_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/mug_020_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/mug_020_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_22" file="mesh/mug_020_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/mug_020_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/mug_020_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/mug_020_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/mug_020_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/mug_020_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/mug_020_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/mug_020_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/mug_020_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/mug_020_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/mug_020_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/mug_020_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/mug_020_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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" />
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mug_020.urdf b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mug_020.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1ed976b26b5d44af118a20fa49aeb2bde520ea6b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mug_020.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mug_020">
+   <link name="mug_020">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mug_020.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mug_020_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</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>e04fb0c479395878a34d9f5e431d9526</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>mug</category>
+         <name>floral mug</name>
+         <color>white,black</color>
+         <shape>cylinder</shape>
+         <material>ceramic</material>
+         <description>white ceramic mug with black leaf and beige floral pattern</description>
+         <min_height>0.0752</min_height>
+         <max_height>0.0752</max_height>
+         <real_height>0.0752</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609202543</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.037878 -0.033068 -0.034782</min>
+            <max>0.057524 0.033455 0.040402</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/e04fb0c479395878a34d9f5e431d9526/mug_020.usd b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mug_020.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/mug_020.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ad425183d8c7fa677dfdf5d97187b709367b4487a315faa11776027f3af40f9
+size 4808258
diff --git a/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/textures/material_0.png b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e7f1e2722fca98e6b0d6d80455877a537ca160df5938e9ed5b3c415383310da
+size 7360122
diff --git a/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/video.mp4 b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e04fb0c479395878a34d9f5e431d9526/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19fafcce68d7524de20b0a5092e740478f40e9398905c24dc45f33962ff77014
+size 305439