diff --git a/.gitattributes b/.gitattributes
index cf44ce3e8bcfdc777a706b71532fbae3b9d6536a..e38dd27729a9ec8510f2131963770927d9f0fdc8 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4869,10 +4869,5 @@ dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/mesh/baby_bottle_
 dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/ef6fad78b4ed55fa917e02a17b849358.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mesh/bowl.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/ef6fad78b4ed55fa917e02a17b849358/mesh/bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/f12311730f8d5f01a45b101bbaa8c165/baby_bottle_035.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/f12311730f8d5f01a45b101bbaa8c165/mesh/baby_bottle_035.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/eee69bbe1277572db5d337d9f44248a8/coffee_cup_039.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/eee69bbe1277572db5d337d9f44248a8/mesh/coffee_cup_039.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/f471d3b4491656c8aa184006ee17be71/f471d3b4491656c8aa184006ee17be71.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/f471d3b4491656c8aa184006ee17be71/mesh/bottle.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/f471d3b4491656c8aa184006ee17be71/mesh/bottle_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/coffee_cup_014.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mesh/coffee_cup_014.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/coffee_cup_014.urdf b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/coffee_cup_014.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b5c8aaf99a5d207a58d1f22a4caf630640e19cb8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/coffee_cup_014.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="coffee_cup_014">
+   <link name="coffee_cup_014">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/coffee_cup_014.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/coffee_cup_014_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3500" />
+         <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>eea66fc4cc4458db8e670c02f8904a8a</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>coffee_cup</category>
+         <name>teacup saucer</name>
+         <color>white,golden</color>
+         <shape>cylinder</shape>
+         <material>ceramic</material>
+         <description>white fluted ceramic coffee cup with matching saucer and gold trim</description>
+         <min_height>0.0590</min_height>
+         <max_height>0.0590</max_height>
+         <real_height>0.0590</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518191448</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.056921 -0.058138 -0.019544</min>
+            <max>0.056942 0.055761 0.039467</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/coffee_cup_014.usd b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/coffee_cup_014.usd
new file mode 100644
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+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/coffee_cup_014.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7d9cb366ee6273567941798033ca4635f3bf0d64dee60666ea4396884baa13d
+size 4992162
diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mesh/coffee_cup_014.glb b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mesh/coffee_cup_014.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mesh/coffee_cup_014.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:720890bc0adab6978fb5754e8a8795d1a2ee0a52aa6eaa68faac6f40998674ef
+size 12846588
diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mesh/coffee_cup_014.mtl b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mesh/coffee_cup_014.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..de4e88242649dec1c2d57c1d7d86303cbabe05ab
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mesh/coffee_cup_014.mtl
@@ -0,0 +1,6 @@
+newmtl coffee_cup_014_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/eea66fc4cc4458db8e670c02f8904a8a/mesh/coffee_cup_014.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mesh/coffee_cup_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d64e8f9d918ed27d24e1d1c4c2d52431daf025a4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mesh/coffee_cup_014.obj
@@ -0,0 +1,105804 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl coffee_cup_014_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mesh/coffee_cup_014_collision.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mesh/coffee_cup_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bea8d2a7f07afe8d9bcb768a80841d84a204c7b9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mesh/coffee_cup_014_collision.obj
@@ -0,0 +1,20475 @@
+# https://github.com/mikedh/trimesh
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index 0000000000000000000000000000000000000000..8b3fda8e1e9caa7b74d3324f348af580834bd002
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl coffee_cup_014_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 coffee_cup_014_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mesh/material_0.png b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..293d937eaeb40f38620e98129ec486467fe5928a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53b91e1241cac57ff1a6af571977c24bdbd09e840e0193bd03bdd041ad53b840
+size 9374549
diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/coffee_cup_014.xml b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/coffee_cup_014.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0fae52f21a51e60fade904b7f50ab38cd7454a0b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/coffee_cup_014.xml
@@ -0,0 +1,142 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="coffee_cup_014">
+  <asset>
+    <material name="material_0" texture="texture_0_coffee_cup_014_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_coffee_cup_014_geometry_Looks_material_0" type="2d" file="mesh/coffee_cup_014_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/coffee_cup_014.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/coffee_cup_014_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/coffee_cup_014_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/coffee_cup_014_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/coffee_cup_014_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/coffee_cup_014_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/coffee_cup_014_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/coffee_cup_014_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/coffee_cup_014_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/coffee_cup_014_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/coffee_cup_014_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/coffee_cup_014_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/coffee_cup_014_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/coffee_cup_014_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/coffee_cup_014_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/coffee_cup_014_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/coffee_cup_014_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/coffee_cup_014_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/coffee_cup_014_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/coffee_cup_014_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/coffee_cup_014_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/coffee_cup_014_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/coffee_cup_014_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/coffee_cup_014_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/coffee_cup_014_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/coffee_cup_014_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/coffee_cup_014_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/coffee_cup_014_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/coffee_cup_014_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/coffee_cup_014_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/coffee_cup_014_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/coffee_cup_014_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/coffee_cup_014_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/coffee_cup_014_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/coffee_cup_014_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/coffee_cup_014_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/coffee_cup_014_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/coffee_cup_014_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/coffee_cup_014_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/coffee_cup_014_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/coffee_cup_014_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/coffee_cup_014_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/coffee_cup_014_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/coffee_cup_014_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/coffee_cup_014_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/coffee_cup_014_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/coffee_cup_014_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/coffee_cup_014_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/coffee_cup_014_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/coffee_cup_014_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/coffee_cup_014_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/coffee_cup_014_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/coffee_cup_014_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/coffee_cup_014_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/coffee_cup_014_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/coffee_cup_014_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/coffee_cup_014_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/coffee_cup_014_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/coffee_cup_014_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/coffee_cup_014_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/coffee_cup_014_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/coffee_cup_014_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/coffee_cup_014_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_62" file="mesh/coffee_cup_014_collision_62.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_63" file="mesh/coffee_cup_014_collision_63.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="coffee_cup_014">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_58" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_59" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_60" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_61" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_62" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_63" 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/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b8305a02521d2e3f21a162cf9fd3a01b9af9027
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014.obj
@@ -0,0 +1,105804 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl coffee_cup_014_geometry_Looks_material_0
+v 0.003803 0.052423 -0.005950
+v 0.003803 0.052423 -0.005950
+v 0.006334 0.052785 -0.005627
+v 0.006334 0.052785 -0.005627
+v 0.002700 0.053238 -0.005497
+v 0.002700 0.053238 -0.005497
+v 0.031199 0.035582 -0.013347
+v 0.031199 0.035582 -0.013347
+v 0.031164 0.037023 -0.013060
+v 0.031164 0.037023 -0.013060
+v 0.031130 0.038162 -0.012812
+v 0.031130 0.038162 -0.012812
+v -0.045413 0.030797 -0.009777
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+v -0.045279 0.031536 -0.009205
+v -0.046413 0.030039 -0.008996
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+v -0.047459 0.029082 -0.007972
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+v -0.043054 0.035235 -0.007876
+v -0.042355 0.035417 -0.009021
+v -0.044005 0.034252 -0.007633
+v -0.041957 0.036497 -0.007889
+v -0.042982 0.034377 -0.009402
+v -0.040619 0.037380 -0.008988
+v -0.048516 0.027321 -0.007948
+v -0.049015 0.026658 -0.007696
+v -0.048700 0.026379 -0.008807
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+v -0.052400 0.019707 -0.007531
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diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40ce9b8e714615d68a2f89467ca761e17e101cb1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision.obj
@@ -0,0 +1,20475 @@
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diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_0.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ca6d386c1b97365c7c426b29294de1e31d5ae6b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_1.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95518d07f8ad9f5d8963fc8828ea70444fea21c3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_10.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e35b3873251cc36576e26eab9fd1f97b1b00194e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_11.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33a47a9df1961042b9219e822f9f1b4a7a486ed2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_11.obj
@@ -0,0 +1,487 @@
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diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_12.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca8ba67e1ae722041f5163dc3c24f76bcf4c1fc3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_12.obj
@@ -0,0 +1,157 @@
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diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_13.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf091ac78fa94991b5b42d1edccfe421bbecc97c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_13.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_14.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..487e598d301d11f4194d63392b8c6c88a108bcad
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_14.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_15.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b33a072767f5809f47145535138cb09cc07c002
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_15.obj
@@ -0,0 +1,406 @@
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diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_16.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..873bf845c1b452c17f42534f26ccabccff58ca2d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_16.obj
@@ -0,0 +1,175 @@
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+
diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_17.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c762efde286c4148332f1637128da4eb4552e5ff
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_17.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.02282321 -0.00837193 -0.00408259
+v -0.02243616 -0.00964744 -0.00408260
+v -0.02267634 -0.01086717 -0.00336993
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+v -0.02156530 -0.01186862 -0.00408260
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+v -0.02452864 -0.01259680 0.00033013
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+
diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_18.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c21a761dd8994fc9db0b2331d52b1cc6d4df8cd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_18.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.03037879 0.01979233 -0.01334635
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+
diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_19.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4dcb3939ee3d88640d77e45af3be5ef2bf66e83
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_19.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.03245881 -0.00119114 -0.01480595
+v 0.03245881 -0.02221101 -0.01260063
+v 0.03245881 -0.00119112 -0.01994714
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diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_2.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19c917624051f8cfb8c3599f803a75d4abf2335c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_2.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_20.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1130b03ce0ade13c9a5a9790db67a3e4c31050e1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_20.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_21.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e41e229b6889f49655dcd711afbeac43a11fefa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_21.obj
@@ -0,0 +1,700 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_22.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb2da2db818ac1a68c2e918c49c117bcb337fdd5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_22.obj
@@ -0,0 +1,205 @@
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+
diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_23.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbb31e536084792383a463454944962e20f3bf4f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_23.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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+v -0.02410277 0.00212615 -0.00386557
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+
diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_24.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5560c898e584c493bffcdbc24142c15fbfa37b81
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_24.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.00281212 -0.02996709 0.00628635
+v 0.00281212 -0.02961846 0.00513830
+v 0.00659923 -0.02951464 0.00567223
+v 0.00659923 -0.02969536 0.00628635
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+
diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_25.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80d54bf779b9297be22025a982001386c94d822a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_25.obj
@@ -0,0 +1,544 @@
+# https://github.com/mikedh/trimesh
+v -0.01518681 -0.05658382 -0.00600863
+v -0.01410699 -0.05684053 -0.00600863
+v -0.00959316 -0.05766203 -0.00504646
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+v -0.01410699 -0.05625955 -0.00462434
+v -0.01518681 -0.05481113 -0.00417739
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+v -0.00845870 -0.05780523 -0.00725324
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+v -0.01042161 -0.05723506 -0.00774985
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+v -0.00469463 -0.05824571 -0.00600863
+v -0.00657666 -0.05783226 -0.00485247
+v -0.00845870 -0.05669191 -0.00436518
+v -0.01410699 -0.05481113 -0.00412462
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+v -0.01367200 -0.05587852 -0.00901774
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diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_26.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d549e13117aeab5d811b35eb6af667d05fd0ffe
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_26.obj
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diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_27.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58721b4365f85e40261245f383d98b74a2abeb73
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_27.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_28.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f85af70f4acfebc48d9b19607d3030ddb083d38
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_28.obj
@@ -0,0 +1,598 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_29.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d4466b085d9fb9675bb460b3e7456cd15f60fee
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_29.obj
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diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_3.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac7404b1a985e1de566613677789058feb8a5d0f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_3.obj
@@ -0,0 +1,496 @@
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diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_30.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d47c42883dd751a7eedc164ddde00f1c106d65a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_30.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_31.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a8a8d132488c742ae6bdfb85275fc1dac5c3dfb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_31.obj
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diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_32.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..905983e83e2cf52a4840ee042dba08a5bc9d168e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_32.obj
@@ -0,0 +1,286 @@
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diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_33.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e45a50829141e28224fa346434827f12953cdef8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_33.obj
@@ -0,0 +1,358 @@
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diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_34.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d10ef24ca3da9e9c8829eb55ad30fddae0684441
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_34.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_35.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad99b5e7f0014db9532bae96eb2a1d59fd5af241
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_35.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_36.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fa2fb11b9740fe40aca771166f420c01400ceb9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_36.obj
@@ -0,0 +1,487 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_37.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1008299fb85f2207227024c1929e8c4c3380e5d6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_37.obj
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diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_38.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c4057e199deeb12d2b195a47e1768d0b6e69790
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_38.obj
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diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_39.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..147a649cdbdd86fde02c1e94e5066f0b018f00f8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_39.obj
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diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_4.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d27eacec1151b8b27dba128b2a521df33c532682
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_4.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_40.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..903db9399631991e50dadf59f6a24bfa5f65dbd3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_40.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_41.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c2abd38a6083da5f0c1acb1b4e74b2bae873687
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_41.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.00095093 -0.03232419 0.01448211
+v -0.00075496 -0.03231477 0.01448211
+v -0.00039341 -0.03138631 0.00928666
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+
diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_42.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cadf18ed6e7094725225b31c01f9f03ad2878df
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_42.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v -0.00093074 -0.02221103 -0.00728941
+v -0.00093074 -0.02225144 -0.00725519
+v -0.00182333 -0.02221103 -0.00722098
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+v -0.00281205 -0.02221103 -0.00714062
+v 0.00283188 -0.02221103 -0.00714313
+v 0.00283188 -0.02310861 -0.00628933
+v -0.00093074 -0.02506332 -0.00436579
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+v -0.00469336 -0.02387982 -0.00521739
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+v -0.00093074 -0.02528893 -0.00408297
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+v -0.00699808 -0.02358877 -0.00488591
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+
diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_43.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1cd4dda28fdabaf4cd1766b3f747c2a5966d841
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_43.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.01399855 0.01054880 -0.00408252
+v 0.01799887 0.00212515 -0.00408255
+v 0.02523481 0.00212510 0.01052451
+v 0.02251536 0.01054875 0.01052454
+v 0.02099393 0.01054880 -0.00408252
+v 0.02392048 0.00212515 -0.00408255
+v 0.03025154 0.00212510 0.01052451
+v 0.02793673 0.01054875 0.01052454
+v 0.02166145 0.01054880 -0.00340908
+v 0.02247234 0.00981824 -0.00308880
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+v 0.02369267 0.00351700 -0.00408255
+v 0.02454977 0.00281035 -0.00332618
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+v 0.03027384 0.00340233 0.01052451
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+v 0.02225090 0.01054880 -0.00271418
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+
diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_44.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18cea7ad4f58f54807a7a4b4d97c765a7bff410f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_44.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.02250531 0.00728218 -0.00408306
+v 0.02369236 0.00351587 -0.00408308
+v 0.02213685 0.00728219 -0.00454340
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+
diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_45.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac9f5ca20d4b7b192a95c79fae50f300c6776050
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_45.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_46.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00676b8345e5582ac0407b1860d95f7447d78aeb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_46.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.00411403 0.03175525 0.00507422
+v 0.00397735 0.02976967 0.00490781
+v 0.00406127 0.02976968 0.00331752
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+
diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_47.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15635eda8eaf6730034a80fe80293462973b2382
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_47.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_48.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7db0a35d396f2d0a8e85171556f6b0f409a51d08
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_48.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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+v 0.02787010 0.01089157 0.01052454
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+
diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_49.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9250cc64e768a691813fc12266c5c4fe328a202
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_49.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.00095297 0.02770600 -0.00408246
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+
diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_5.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f389fe33953a7145283d6293f95798115f59daad
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_5.obj
@@ -0,0 +1,502 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_50.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..473801e21c4cccde45762cff33bcc27cd8e2b81f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_50.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_51.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a872fbe92623a3af0e5863ee838ebf0163f705a5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_51.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_52.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62906a230accea86cc76ea5934db08af7a9236f6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_52.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_53.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bfaeddd5b36e371b08293388edf528c316683c0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_53.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_54.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9598b82858798605e3911ef579148c8ed72d273
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_54.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_55.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd1ec9a552addfda52cf966fcb0ea14bbdbd806b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_55.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_56.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29d486a6265c10c0dd6676955f003edb0ee35ffe
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_56.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_57.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ccc26d9c80df70b7fcc13c62b46c68a503ca783
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_57.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_58.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff3a85445ed28d0c782c26deffe9f8b95e5d15c0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_58.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_59.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..130a77b86465ecf8ec170067b47c74f5f8bcad5a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_59.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.02398425 -0.00118912 -0.00408256
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+
diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_6.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf88c1f46c832d4e244f68bdaeca8ec627d638b5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_6.obj
@@ -0,0 +1,505 @@
+# https://github.com/mikedh/trimesh
+v 0.05722255 -0.00119117 -0.00600717
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diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_60.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..476407d1ef5c71d55270a1a4a1a4c20168deda11
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_60.obj
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diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_61.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30efe852e5ec5f05b0157b7ebeb38110f4fe2d6d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_61.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_62.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70709fb2b1fbb10536fe780559d1da855b4d187c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_62.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_63.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbf4b33f0f169bfa62ddef927bc17dba54a929a4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_63.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_7.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c845490046c80c35eb11e2f95d3376e79b9f829d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_8.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e746296ec8a99cd19c2d6de30dabeb72ccc8cf8c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_8.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_9.obj b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5a914ec3cf91087e72b6e7ac173efe0b4d75087
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/mjcf/mesh/coffee_cup_014_collision_9.obj
@@ -0,0 +1,394 @@
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