diff --git a/.gitattributes b/.gitattributes
index 3a77de1bf0975d3639dfea8b3561fea22dc53304..edee62cd8310f4dc067a7cf4220fc75eb49e33f1 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4878,3 +4878,5 @@ dataset/kitchen_supplies/ware/e8fccd0d16f858bcb4b5d8c4594a8621/mjcf/mesh/baby_bo
 dataset/kitchen_supplies/ware/f81518dee2935bfabfcaa74b1459819d/f81518dee2935bfabfcaa74b1459819d.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/ffaac0c1f96a5db1b12a83cb7de35f4e/baby_bottle_033.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/ffaac0c1f96a5db1b12a83cb7de35f4e/mesh/baby_bottle_033.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mesh/mug_015.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mug_015.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mesh/material.mtl b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c93b6f6a4a4b8059bbb664b928534dd10274c2d2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mug_015_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_015_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mesh/material_0.png b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b53263757bd17ebccbd149ac5151792aca542ff7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe599561d7f758b8151e448fad7372e8054d614230e3b4bace549ca17f97b3ab
+size 7733248
diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mesh/mug_015.glb b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mesh/mug_015.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f8c4df84abf0ce26e25c29780ef86742001584d8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mesh/mug_015.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c62c367c41bc1cdae2d6e7cfcdf9d2b6381215a8a95de0b9ec8439d65e1d89a8
+size 10975464
diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mesh/mug_015.mtl b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mesh/mug_015.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ec49571a7f4281451b19cd98c0017124e1543092
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mesh/mug_015.mtl
@@ -0,0 +1,6 @@
+newmtl mug_015_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/fb51aef40eba5cbc9c3328ed1b7f470c/mesh/mug_015.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mesh/mug_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ecaee88ca5166a2f45350e2e37273a1ec850052
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mesh/mug_015.obj
@@ -0,0 +1,104818 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl mug_015_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mesh/mug_015_collision.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mesh/mug_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd597f94a4b60a70042ef95ce09cb8eea3cfb6b6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mesh/mug_015_collision.obj
@@ -0,0 +1,20340 @@
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diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mesh/mug_015_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mesh/mug_015_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015.obj
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+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015.obj
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diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cba78ff627ac070e4c07763dbdc00918747a9f4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision.obj
@@ -0,0 +1,20340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_0.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a10d4c1ef160ff80cd2219368c7a08a65d83a46f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_1.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61e1db9f4813ce109c4a8a19c84a54c35e3df774
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_1.obj
@@ -0,0 +1,1174 @@
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diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_10.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..930f90925f24eecf214427e57ed71902cb30be8b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_10.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_11.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..383646c56b352bdd4bb9d6fd6db142b16e059f7c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_11.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_12.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e560295d0f850a174f92468a5fd79e3166c608e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_12.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_13.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09fe77c38485e46b71b2edc80d3da930c7600ba9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_13.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_14.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a30f3387cec9c9de3e70c20612f39b57a6f3e18f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_14.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_15.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65e977edea8ed5fe4aa93d9021762e3112ea4ed1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_15.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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+f 1 35 34
+f 1 34 21
+f 1 21 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 3 8 15
+f 3 15 25
+f 3 25 37
+f 3 37 44
+f 3 44 55
+f 3 55 58
+f 3 58 57
+f 3 57 61
+f 3 61 51
+f 3 51 50
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+f 3 17 9
+f 3 9 4
+f 4 9 16
+f 4 16 27
+f 4 27 18
+f 4 18 10
+f 4 10 5
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 8 14 15
+f 9 17 26
+f 9 26 16
+f 10 18 29
+f 10 29 19
+f 11 20 12
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+f 11 22 20
+f 12 23 14
+f 12 14 13
+f 12 20 23
+f 14 23 15
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+f 16 26 27
+f 17 28 26
+f 18 27 29
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+f 20 24 23
+f 20 22 32
+f 20 32 33
+f 20 33 24
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+f 22 35 36
+f 22 36 32
+f 24 33 37
+f 24 37 25
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+f 26 29 27
+f 28 39 38
+f 29 38 30
+f 30 38 40
+f 30 40 41
+f 30 41 42
+f 30 42 43
+f 30 43 31
+f 32 36 33
+f 33 44 37
+f 33 36 45
+f 33 45 44
+f 35 46 36
+f 36 46 47
+f 36 47 48
+f 36 48 49
+f 36 49 45
+f 38 39 50
+f 38 50 40
+f 40 50 51
+f 40 51 52
+f 40 52 53
+f 40 53 41
+f 41 53 54
+f 41 54 42
+f 44 45 55
+f 45 49 56
+f 45 56 57
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+f 48 59 49
+f 49 59 60
+f 49 60 53
+f 49 53 52
+f 49 52 56
+f 51 61 52
+f 52 61 56
+f 53 60 54
+f 56 61 57
+
diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_16.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf8776b217f02fb4d06c96b35b94c42f1a1c02fe
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_16.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.01320278 0.03083162 0.02327865
+v 0.01266684 0.03104694 0.02327865
+v 0.01320278 0.02698147 0.02327864
+v 0.01320278 0.03091092 -0.00641223
+v 0.01212702 0.03126291 0.02327865
+v 0.01320278 0.02698082 0.02315360
+v -0.00005413 0.02978253 0.02327865
+v -0.00005413 0.02977535 0.02247604
+v -0.00005413 0.02974918 0.01925395
+v -0.00005413 0.02973741 0.01764582
+v 0.01320278 0.03091092 -0.00642968
+v 0.01212702 0.03133501 -0.00642967
+v 0.01143147 0.03151553 0.02327866
+v 0.01320278 0.02696448 0.01982391
+v -0.00005413 0.03363334 0.02327866
+v -0.00005413 0.02972955 0.01603477
+v 0.01320278 0.02699991 -0.00642969
+v 0.01074760 0.03180163 -0.00642967
+v 0.01071257 0.03177273 0.02327866
+v 0.01320278 0.02695859 0.01822159
+v -0.00005413 0.02972237 0.01442373
+v 0.00025471 0.03363923 0.02327866
+v -0.00005413 0.03332585 -0.00642967
+v -0.00005413 0.02972636 -0.00642968
+v 0.01320278 0.02697830 -0.00318143
+v 0.00993916 0.03204574 -0.00642967
+v 0.00990283 0.03204105 0.02327866
+v 0.01320278 0.02695663 0.01764581
+v -0.00005413 0.02971844 0.01281269
+v 0.00242311 0.03358098 0.02327866
+v 0.00080492 0.03332389 -0.00642967
+v 0.01320278 0.02695994 0.00798537
+v 0.01320278 0.02695796 0.00959350
+v 0.01320278 0.02695731 0.01016929
+v 0.01320278 0.02695600 0.01178033
+v 0.01320278 0.02695534 0.01281268
+v -0.00005413 0.02971845 0.01195773
+v 0.00889195 0.03231145 -0.00642967
+v 0.00644715 0.03301095 0.02327866
+v 0.00889195 0.03233686 0.02327866
+v 0.00939155 0.03219289 0.02327866
+v 0.01320278 0.02695402 0.01603476
+v 0.00403999 0.03347365 0.02327866
+v 0.00242311 0.03325059 -0.00642967
+v 0.00234265 0.03325452 -0.00642967
+v 0.00727376 0.03265504 -0.00642967
+v 0.00564779 0.03317587 0.02327866
+v 0.00433975 0.03342260 0.02327866
+v 0.00565818 0.03291813 -0.00642967
+v 0.00403999 0.03311577 -0.00642967
+f 1 2 5
+f 1 5 13
+f 1 13 19
+f 1 19 27
+f 1 27 41
+f 1 41 40
+f 1 40 39
+f 1 39 47
+f 1 47 48
+f 1 48 43
+f 1 43 30
+f 1 30 22
+f 1 22 15
+f 1 15 7
+f 1 7 3
+f 1 3 6
+f 1 6 14
+f 1 14 20
+f 1 20 28
+f 1 28 42
+f 1 42 36
+f 1 36 35
+f 1 35 34
+f 1 34 33
+f 1 33 32
+f 1 32 25
+f 1 25 17
+f 1 17 11
+f 1 11 4
+f 1 4 2
+f 2 4 5
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 6
+f 4 11 12
+f 4 12 5
+f 5 12 13
+f 6 10 14
+f 7 15 23
+f 7 23 24
+f 7 24 37
+f 7 37 29
+f 7 29 21
+f 7 21 16
+f 7 16 10
+f 7 10 9
+f 7 9 8
+f 10 16 14
+f 11 17 24
+f 11 24 23
+f 11 23 31
+f 11 31 45
+f 11 45 44
+f 11 44 50
+f 11 50 49
+f 11 49 46
+f 11 46 38
+f 11 38 26
+f 11 26 18
+f 11 18 12
+f 12 18 19
+f 12 19 13
+f 14 16 21
+f 14 21 20
+f 15 22 23
+f 17 25 24
+f 18 26 27
+f 18 27 19
+f 20 21 28
+f 21 29 28
+f 22 30 31
+f 22 31 23
+f 24 25 32
+f 24 32 33
+f 24 33 34
+f 24 34 35
+f 24 35 36
+f 24 36 37
+f 26 38 39
+f 26 39 40
+f 26 40 41
+f 26 41 27
+f 28 29 42
+f 29 37 42
+f 30 43 44
+f 30 44 45
+f 30 45 31
+f 36 42 37
+f 38 46 39
+f 39 46 47
+f 43 48 46
+f 43 46 49
+f 43 49 50
+f 43 50 44
+f 46 48 47
+
diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_17.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d359631f681781008e86984c40b41cede9e46428
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_17.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.03097894 -0.01195413 -0.02018135
+v 0.03224027 0.00079405 -0.02018131
+v 0.03488859 -0.01195413 -0.02018135
+v 0.03076593 -0.01195420 -0.00001779
+v 0.03599731 0.00079405 -0.02018131
+v 0.03074867 -0.01195421 0.00164144
+v 0.03073465 -0.01195421 0.00315318
+v 0.03207094 0.00079398 -0.00006515
+v 0.03515067 -0.01099193 -0.02018135
+v 0.03456988 -0.01099212 0.03363029
+v 0.03430726 -0.01195432 0.03363029
+v 0.03602157 0.00057066 -0.02018131
+v 0.03554918 0.00079386 0.03363033
+v 0.03556859 0.00064411 0.03363033
+v 0.03560580 0.00035582 0.03363033
+v 0.03073358 -0.01195421 0.00329540
+v 0.03072333 -0.01195422 0.00476500
+v 0.03206016 0.00079397 0.00154667
+v 0.03529249 -0.01037293 -0.02018135
+v 0.03459846 -0.01087232 0.03363029
+v 0.03069583 -0.01195432 0.03363029
+v 0.03604476 0.00035601 -0.02018131
+v 0.03207741 0.00079386 0.03363033
+v 0.03572606 -0.00115924 0.03363033
+v 0.03072225 -0.01195422 0.00493883
+v 0.03071362 -0.01195422 0.00657172
+v 0.03205207 0.00079397 0.00315322
+v 0.03548177 -0.00952056 -0.02018134
+v 0.03493173 -0.00937099 0.03363030
+v 0.03206177 0.00079386 0.03257158
+v 0.03205584 0.00079386 0.03213439
+v 0.03066131 -0.01195431 0.03067528
+v 0.03609707 -0.00047140 -0.02018131
+v 0.03574332 -0.00277163 0.03363032
+v 0.03616987 -0.00288626 -0.02018132
+v 0.03615908 -0.00209254 -0.02018132
+v 0.03614614 -0.00126512 -0.02018131
+v 0.03070607 -0.01195423 0.00819934
+v 0.03204506 0.00079396 0.00476504
+v 0.03562522 -0.00877551 -0.02018134
+v 0.03524773 -0.00774985 0.03363030
+v 0.03204290 0.00079387 0.03052784
+v 0.03203535 0.00079387 0.02891602
+v 0.03203158 0.00079388 0.02730420
+v 0.03202834 0.00079389 0.02569764
+v 0.03202618 0.00079389 0.02451775
+v 0.03202349 0.00079390 0.02290593
+v 0.03202295 0.00079390 0.02247400
+v 0.03201917 0.00079391 0.01925563
+v 0.03201917 0.00079392 0.01764381
+v 0.03202025 0.00079392 0.01603199
+v 0.03202187 0.00079393 0.01442017
+v 0.03068450 -0.01195426 0.01603195
+v 0.03574439 -0.00288645 0.03363032
+v 0.03611810 -0.00450739 -0.02018133
+v 0.03070122 -0.01195424 0.00958993
+v 0.03204020 0.00079396 0.00637686
+v 0.03569532 -0.00834371 -0.02018134
+v 0.03549418 -0.00614993 0.03363031
+v 0.03577944 -0.00782205 -0.02018134
+v 0.03202457 0.00079393 0.01281361
+v 0.03068828 -0.01195425 0.01442013
+v 0.03567806 -0.00439901 0.03363031
+v 0.03599030 -0.00612853 -0.02018133
+v 0.03567537 -0.00443894 0.03363031
+v 0.03203913 0.00079396 0.00680352
+v 0.03559610 -0.00523266 0.03363031
+v 0.03203212 0.00079394 0.00958997
+f 1 2 5
+f 1 5 12
+f 1 12 22
+f 1 22 33
+f 1 33 37
+f 1 37 36
+f 1 36 35
+f 1 35 55
+f 1 55 64
+f 1 64 60
+f 1 60 58
+f 1 58 40
+f 1 40 28
+f 1 28 19
+f 1 19 9
+f 1 9 3
+f 1 3 11
+f 1 11 21
+f 1 21 32
+f 1 32 53
+f 1 53 62
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+f 1 38 26
+f 1 26 25
+f 1 25 17
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+f 1 7 6
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+f 2 18 27
+f 2 27 39
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+f 5 15 12
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+f 10 41 59
+f 10 59 67
+f 10 67 65
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+f 10 24 15
+f 10 15 14
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+f 10 21 11
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+f 17 25 18
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+f 24 35 36
+f 24 36 37
+f 24 37 33
+f 26 38 27
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+f 28 41 29
+f 31 42 32
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+f 32 45 46
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+f 32 47 48
+f 32 48 49
+f 32 49 50
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+f 32 51 52
+f 32 52 53
+f 34 54 35
+f 35 54 55
+f 38 56 39
+f 39 56 57
+f 40 58 41
+f 41 58 60
+f 41 60 59
+f 52 61 53
+f 53 61 68
+f 53 68 62
+f 54 63 55
+f 55 63 65
+f 55 65 64
+f 56 62 57
+f 57 62 66
+f 59 60 64
+f 59 64 67
+f 62 68 66
+f 64 65 67
+
diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_18.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c408fafc25033a3c67e07c4348dd28b27cb2c45a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_18.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.00005413 0.03318334 0.01591692
+v -0.00081381 0.03318253 0.01591692
+v -0.00005413 0.02972908 0.01591691
+v -0.00005413 0.03464784 -0.01405763
+v -0.00231672 0.03464784 -0.01330846
+v -0.00488624 0.03464784 -0.01330846
+v -0.00243197 0.03311593 0.01591692
+v -0.00518259 0.03464784 -0.01340887
+v -0.01138120 0.02770996 0.01591690
+v -0.01206797 0.02635049 -0.02353429
+v -0.00005413 0.02871560 -0.02353428
+v -0.00005413 0.03464786 -0.01961077
+v -0.00405012 0.03298436 0.01591692
+v -0.00602930 0.03464784 -0.01461372
+v -0.01138120 0.03151022 0.01591692
+v -0.01206797 0.02752083 -0.01330849
+v -0.01206797 0.03135362 -0.02353427
+v -0.00005413 0.03326959 -0.02353427
+v -0.00081264 0.03327040 -0.02353427
+v -0.00082087 0.03464786 -0.01961077
+v -0.00566827 0.03279268 0.01591692
+v -0.00638915 0.03464785 -0.01599235
+v -0.00889987 0.03223389 0.01591692
+v -0.00728172 0.03255064 0.01591692
+v -0.01075087 0.03172545 0.01591692
+v -0.00641855 0.03464785 -0.01616999
+v -0.01206797 0.03157288 -0.01617000
+v -0.01206797 0.03154525 -0.01455967
+v -0.01206797 0.03152089 -0.01338957
+v -0.01206797 0.03151764 -0.01330847
+v -0.01206797 0.03145269 -0.02261133
+v -0.00585055 0.03464786 -0.01777646
+v -0.00578940 0.03464786 -0.01789617
+v -0.01061328 0.03180114 -0.02353427
+v -0.00243197 0.03319568 -0.02353427
+v -0.00243197 0.03464786 -0.01959532
+v -0.00983243 0.03201134 0.01591692
+v -0.01064033 0.03176281 0.01591692
+v -0.01206797 0.03154447 -0.02100099
+v -0.01206797 0.03158264 -0.01939066
+v -0.01206797 0.03158832 -0.01778033
+v -0.00438292 0.03464786 -0.01919757
+v -0.00986888 0.03201718 -0.02353427
+v -0.00404894 0.03305517 -0.02353427
+v -0.00422181 0.03464786 -0.01932500
+v -0.00893515 0.03223322 -0.02353427
+v -0.00566945 0.03285049 -0.02353427
+v -0.00728290 0.03257922 -0.02353427
+f 1 2 7
+f 1 7 13
+f 1 13 21
+f 1 21 24
+f 1 24 23
+f 1 23 37
+f 1 37 38
+f 1 38 25
+f 1 25 15
+f 1 15 9
+f 1 9 3
+f 1 3 11
+f 1 11 18
+f 1 18 12
+f 1 12 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 7
+f 3 9 10
+f 3 10 11
+f 4 12 20
+f 4 20 36
+f 4 36 45
+f 4 45 42
+f 4 42 33
+f 4 33 32
+f 4 32 26
+f 4 26 22
+f 4 22 14
+f 4 14 8
+f 4 8 6
+f 4 6 5
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+f 8 14 13
+f 9 15 30
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+f 9 16 10
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+f 10 30 29
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+f 10 35 19
+f 10 19 18
+f 10 18 11
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+f 12 19 20
+f 13 14 21
+f 14 22 23
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+f 14 24 21
+f 15 25 26
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+f 15 27 28
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+f 15 29 30
+f 17 31 26
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+f 17 32 33
+f 17 33 34
+f 19 35 36
+f 19 36 20
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+f 22 37 23
+f 25 38 26
+f 26 31 39
+f 26 39 40
+f 26 40 41
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+f 33 42 43
+f 33 43 34
+f 35 44 45
+f 35 45 36
+f 42 45 43
+f 43 45 46
+f 44 47 45
+f 45 47 48
+f 45 48 46
+
diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_19.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aecf40811a603f24f0121f9f49a840c167e198b2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_19.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
+v 0.01361463 -0.03112241 0.03375386
+v 0.01361463 -0.03114738 0.03466417
+v 0.01361463 -0.03495538 0.03375384
+v 0.00000163 -0.03410164 0.03375384
+v 0.00000163 -0.03412245 0.03454959
+v 0.00000163 -0.03414429 0.03536082
+v 0.01361463 -0.03116713 0.03536084
+v 0.01361463 -0.03831210 0.03660708
+v 0.01331348 -0.03788263 0.03606987
+v 0.01212754 -0.03549091 0.03375384
+v 0.00000163 -0.03766633 0.03375383
+v 0.00000163 -0.03431588 0.03697090
+v 0.01361463 -0.03134808 0.03697091
+v 0.01361463 -0.03860223 0.03689736
+v 0.01212754 -0.03886635 0.03662179
+v 0.01050986 -0.03908888 0.03636092
+v 0.00996220 -0.03623130 0.03375384
+v 0.00000163 -0.04063621 0.03643058
+v 0.00071053 -0.03766737 0.03375383
+v 0.00080514 -0.04063621 0.03642903
+v 0.00000163 -0.03448122 0.03783710
+v 0.01361463 -0.03139903 0.03720004
+v 0.01361463 -0.03883828 0.03714506
+v 0.01212754 -0.03963691 0.03742682
+v 0.01050986 -0.03987088 0.03716595
+v 0.00943719 -0.03926046 0.03622314
+v 0.00835785 -0.03943516 0.03611554
+v 0.00889219 -0.03650895 0.03375384
+v 0.00000163 -0.04101786 0.03683620
+v 0.00081447 -0.03766737 0.03375383
+v 0.00080514 -0.04139429 0.03723484
+v 0.00242282 -0.04060294 0.03647006
+v 0.00242282 -0.04136413 0.03727510
+v 0.00000163 -0.03463096 0.03823652
+v 0.01361463 -0.03177859 0.03853765
+v 0.01361463 -0.03933950 0.03858020
+v 0.01319622 -0.03946013 0.03764434
+v 0.00699069 -0.04108857 0.03762653
+v 0.00889485 -0.03997486 0.03684394
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diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_2.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c28ad5dbf2edd799b39eb03c11f5a8a00bf1538
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_20.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f178a777a8257147e7148ad32a6519b2afb28fa9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_20.obj
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diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_21.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35729981e320ed67880629d1eeb0a1a6c0845f48
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_21.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_22.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..630cf3fd156bbdc5369a897d70df9308aba5a58f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_22.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.01024593 0.03195345 -0.00642967
+v 0.00993943 0.03204568 -0.00642967
+v 0.01024593 0.02811208 -0.00642969
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+
diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_23.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e16c7075f99060f13119940bed0b4960a39dbfd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_23.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
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+v 0.03355773 -0.01414477 0.03363028
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diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_24.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f691a169e781cdc28aea1836c0363d7d81f2bc63
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_24.obj
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+
diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_25.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a915013ac875ef232d7883dd4f4a57d5d3ac77c3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_25.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.03513919 -0.01143132 -0.02261339
+v 0.03512448 -0.01143132 -0.02217799
+v 0.03481897 -0.01261535 -0.02261340
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+v 0.03508375 -0.01143132 -0.02100356
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+v 0.03470695 -0.01261534 -0.02394131
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+v 0.03429168 -0.01423656 -0.02261340
+v 0.03397486 -0.01507127 -0.02348200
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+v 0.03503057 -0.01143133 -0.02018171
+v 0.03471035 -0.01261536 -0.02018172
+v 0.03447159 -0.01335364 -0.02018172
+v 0.03419890 -0.01435550 -0.02103706
+v 0.03411290 -0.01447764 -0.02394131
+v 0.03398504 -0.01509806 -0.02261341
+v 0.03419437 -0.01420336 -0.02018172
+v 0.03392733 -0.01494377 -0.02018172
+v 0.03359240 -0.01579242 -0.02018173
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+v 0.03292706 -0.01747791 -0.02100358
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+v 0.03371008 -0.01554595 -0.02394132
+v 0.03393864 -0.01497054 -0.02394131
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+
diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_26.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12041daecaa0e073110711e8a46287db2dce0564
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_26.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.03454149 -0.01337959 -0.02361997
+v -0.02944033 -0.01337959 -0.02361997
+v -0.03456586 -0.01337959 -0.02331356
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+
diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_27.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86a385d54331541f72203b4392aa84867daac43e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_27.obj
@@ -0,0 +1,556 @@
+# https://github.com/mikedh/trimesh
+v 0.02471634 -0.03312087 0.03858062
+v 0.02471634 -0.03292957 0.03940895
+v 0.02471634 -0.03273826 0.03733027
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+v 0.02597122 -0.02649385 0.03363023
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diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_28.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cc146505ee38c194406435fe17ffe799d099ded
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_28.obj
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diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_29.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c20b347e8e4d058ba6e3931c5b9451cbc67881c7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_29.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_3.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b65cf3c4e7def825cee08c5675c14a88a2d2ce48
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_3.obj
@@ -0,0 +1,664 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_30.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc0a4f91dd26c7ae28c2935c5a83f37e3db13dc1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_30.obj
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diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_31.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..345b56755b100d33a59c89c93bf4261161e5dfea
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_31.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_32.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0e3ae9c3b458ce2633332ba464bfbbd3d33a0ec
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_32.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_33.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f53fc923c3387bfe161fb1ea895d41a81276ffa3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_33.obj
@@ -0,0 +1,283 @@
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diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_34.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bac41620496c925bbae533c70ba36d77e45f291b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_34.obj
@@ -0,0 +1,262 @@
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+
diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_35.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00443e26ffec531cfd7ad4dc4247356005a0a55e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_35.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_36.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70e19d1fc8b9f489ecae6f6d1b77eba211a1f593
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_36.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.02311881 -0.02366131 -0.02362001
+v -0.02932779 -0.02366131 -0.02362001
+v -0.02354213 -0.02292050 -0.02362000
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+
diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_37.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8f6ff8cc5dbbd12f08567be5a2c49758c2d80b0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_37.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v 0.02471634 -0.02889575 -0.02018142
+v 0.02471634 -0.02330700 -0.02018140
+v 0.02494834 -0.02867685 -0.02018142
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diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_38.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0630ff5d16e93dbecb4c54b2a13401087fa2f907
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_38.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_39.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ade06398af0af9bf87385cb550dfac90bbc8ba63
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_39.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_4.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa4eafd9280c18f3b9c61b09a018a4e85a71b27a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_4.obj
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diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_40.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5ac7462a602aa3347308845e02404ff3a896fa4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_40.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_41.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..233e10512103a8910bdf28890452a1c43d53058e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_41.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_42.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36879de2c1bd7573926486f499314f9fcf62c8a1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_42.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v -0.00005413 0.03411035 0.04158001
+v -0.00434428 0.03411035 0.04161023
+v -0.01051838 0.03278505 0.04164800
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+
diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_43.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fd932598252b907f8160e3c28c0a79099799c89
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_43.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.02097027 0.02687305 -0.01330879
+v -0.02097027 0.02707871 -0.02098492
+v -0.02098009 0.02707312 -0.02100294
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+
diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_44.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9917a201e8af303e393a0eed55e4598b2755f726
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_44.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.02311838 -0.02366231 -0.02362001
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+
diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_45.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..023b97d4dd9107b51aa3e942177b6dd96f972277
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_45.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_46.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbff018175a6ee80b6d018dfab321a3caded6239
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_46.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_47.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c79cfd0e213cb4937ddc303ef2dbd9fd18e4d0b1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_47.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_48.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a87573199e3b3d778d8d5ef064d9641c23ae5992
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_48.obj
@@ -0,0 +1,256 @@
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diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_49.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b6ece36595f40f9b07c2b51bd3c39cb3587db65
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_49.obj
@@ -0,0 +1,319 @@
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+
diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_5.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b737c95f37376f5ede0266a8af96cb2aa6fe37a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_5.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_50.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cba8bf6b873a18b839478472678652cff82402b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_50.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_51.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c6c9ee3909389d8b26aaf23159fe6ff8b06f3dc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_51.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_52.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7d81b226fcb5ec8aed82086c7f83cac147b3e81
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_52.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_53.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae4ddfa256ad76174e0ddbb2775cb4364e3b5412
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_53.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
+v -0.00243088 0.03772172 0.02963301
+v -0.00404846 0.03772172 0.02940568
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+
diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_54.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c9012e9baa8f2e10e8de3b1a59388a6b9ec86d8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_54.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
+v -0.00577513 0.04677284 -0.01330652
+v -0.00005413 0.04677284 -0.01330652
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diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_55.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa43e9fdff413b94c2d4b036d28b9368f9b2a271
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_55.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_56.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b72caa83063f1c32ea8068758a9d9e57ec3ca33
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_56.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_57.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4484918d657d3c0dd44f98d060275c1cb32046e7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_57.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_6.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cae9ea8454c4e2f1a6a66424d00c6cdb97c76853
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_6.obj
@@ -0,0 +1,574 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_7.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b22445679486f567bfdf0b9dca56dad0b31aa63
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_8.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2acfe1e30b3a0c794a539f7215f94c287397f4d1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_8.obj
@@ -0,0 +1,601 @@
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diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_9.obj b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mesh/mug_015_collision_9.obj
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diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mug_015.xml b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mug_015.xml
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index 0000000000000000000000000000000000000000..2a1b5843a2e0687aed53fbe6d862ad038360be5e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mjcf/mug_015.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+    <mesh name="collision_mesh_0_0" file="mesh/mug_015_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mug_015_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/mug_015_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/mug_015_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/mug_015_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/mug_015_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/mug_015_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/mug_015_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/mug_015_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/mug_015_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/mug_015_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_21" file="mesh/mug_015_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_24" file="mesh/mug_015_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/mug_015_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/mug_015_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/mug_015_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/mug_015_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/mug_015_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/mug_015_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/mug_015_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/mug_015_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/mug_015_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/mug_015_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_52" file="mesh/mug_015_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/mug_015_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/mug_015_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/mug_015_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/mug_015_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/mug_015_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mug_015">
+      <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" />
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+      <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" />
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+      <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" />
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+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_48" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_49" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_50" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_56" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_57" 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/fb51aef40eba5cbc9c3328ed1b7f470c/mug_015.urdf b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mug_015.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ee676a5e2ab4e2f0afadbb82fe5908b290c974f6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mug_015.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mug_015">
+   <link name="mug_015">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mug_015.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_015_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2650" />
+         <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>fb51aef40eba5cbc9c3328ed1b7f470c</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>mug</category>
+         <name>enamel mug</name>
+         <color>white,blue</color>
+         <shape>cylinder</shape>
+         <material>metal</material>
+         <description>white enamel mug with blue floral print and dark metal rim</description>
+         <min_height>0.0719</min_height>
+         <max_height>0.0719</max_height>
+         <real_height>0.0719</real_height>
+         <min_mass>0.18</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518192030</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.039736 -0.041455 -0.030263</min>
+            <max>0.039727 0.056936 0.041603</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <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/fb51aef40eba5cbc9c3328ed1b7f470c/mug_015.usd b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mug_015.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/mug_015.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:def323a6809aa76ce6ff13d91ddd8d088bd3b1ec6f5956882ddcd517b27d1a36
+size 4847163
diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/textures/material_0.png b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/textures/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe599561d7f758b8151e448fad7372e8054d614230e3b4bace549ca17f97b3ab
+size 7733248
diff --git a/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/video.mp4 b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..30e05c559c414cfe53a4da633955df90053476d6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/fb51aef40eba5cbc9c3328ed1b7f470c/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:703f4644b36a1f41003b01cf5b77977a1fd2394ce4f0b293f1b0b2b09cf98efa
+size 196278