diff --git a/.gitattributes b/.gitattributes
index 2839eb6495f37de473d40e976602e867f4ea28b4..e60d2c66556149e4b9bac128e9c9b9a3f920c9fd 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4845,3 +4845,5 @@ dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/mesh/thermos_019.
 dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/thermos_019.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/e3773d4bb6d7560dbaf13662c78f679a/mesh/thermos_002.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/e3773d4bb6d7560dbaf13662c78f679a/thermos_002.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/coffee_cup_012.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mesh/coffee_cup_012.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/coffee_cup_012.urdf b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/coffee_cup_012.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2a43ec3ec33a4cdb69277ea119887456667b5777
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/coffee_cup_012.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="coffee_cup_012">
+   <link name="coffee_cup_012">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/coffee_cup_012.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/coffee_cup_012_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>e52e4cd0167a5b3f9d9eb73007de35ec</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>coffee_cup</category>
+         <name>printed coffee cup</name>
+         <color>beige,brown</color>
+         <shape>cylinder</shape>
+         <material>ceramic</material>
+         <description>tapered ceramic coffee cup with side handle and printed logo</description>
+         <min_height>0.0693</min_height>
+         <max_height>0.0693</max_height>
+         <real_height>0.0693</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518191339</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.038432 -0.039916 -0.037174</min>
+            <max>0.038467 0.059936 0.032114</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</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/e52e4cd0167a5b3f9d9eb73007de35ec/coffee_cup_012.usd b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/coffee_cup_012.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/coffee_cup_012.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fa1c4d25f2c4139193b803cdee10e9d8b8b8fe0a44653a5760ec9184168e9ad
+size 4828850
diff --git a/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mesh/coffee_cup_012.glb b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mesh/coffee_cup_012.glb
new file mode 100644
index 0000000000000000000000000000000000000000..49f2481316ae3286a727ab0a1aba0956c8b46e85
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mesh/coffee_cup_012.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fd4b677c617aec22c6e54609849070e503eccfbfe21bf0c547cc5f864449268
+size 12350500
diff --git a/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mesh/coffee_cup_012.mtl b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mesh/coffee_cup_012.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0500250e9fe0d226f739586afe86a9fb403edfe4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mesh/coffee_cup_012.mtl
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+newmtl coffee_cup_012_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mesh/coffee_cup_012.obj b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mesh/coffee_cup_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f2f29be10885cfda44c35777a9f22a876f9721e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mesh/coffee_cup_012.obj
@@ -0,0 +1,107356 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mesh/coffee_cup_012_collision.obj b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mesh/coffee_cup_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b35aedb7310cfd03c031a0e7d05a5d088d44bde
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mesh/coffee_cup_012_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mesh/coffee_cup_012_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mesh/coffee_cup_012_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mesh/material.mtl b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mesh/material.mtl
new file mode 100644
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+++ b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mesh/material_0.png b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/coffee_cup_012.xml b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/coffee_cup_012.xml
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+++ b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/coffee_cup_012.xml
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+    <mesh name="collision_mesh_0_29" file="mesh/coffee_cup_012_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/coffee_cup_012_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/coffee_cup_012_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="coffee_cup_012">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012.obj b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..715f97d048a8ad10fd3d33be068dea39ed0d6dd2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012.obj
@@ -0,0 +1,107356 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl coffee_cup_012_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision.obj b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..721d3361b42c6c290d6dcc13e45a51b8257de430
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision.obj
@@ -0,0 +1,31276 @@
+# https://github.com/mikedh/trimesh
+
+o coffee_cup_012_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_0.obj b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b9e0b6bef90298c6da1bbe5fb3f23efe392793d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_0.obj
@@ -0,0 +1,1318 @@
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diff --git a/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_1.obj b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48301875de7e3ffdfa5dcb161faa7e373ab5b38e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_10.obj b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0221fa539033fedf29bd755837af970c39e0767
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_10.obj
@@ -0,0 +1,334 @@
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diff --git a/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_11.obj b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1960fbc8d8e8602b0d8aa909ef4692976224bfb6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_11.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_12.obj b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e73cf744d94e489f6ad80792583b2c4deff81037
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_12.obj
@@ -0,0 +1,538 @@
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diff --git a/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_13.obj b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5815f728333431142e3326dd9c2725c01f1614ba
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_13.obj
@@ -0,0 +1,436 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_14.obj b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be1f8491e004e29f50a599e4477eba9794bcdcf2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_14.obj
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diff --git a/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_15.obj b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..624dfe1f25ffb6dcb29276098d691a39d5df0e30
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_15.obj
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diff --git a/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_16.obj b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04ab34f12abff4d0d2b8edc46d0f9d6d0a0a98f2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_16.obj
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diff --git a/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_17.obj b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9052c7d0601ca3308165f62d2a969f5ddf2b50c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_17.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_18.obj b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07922ed8441167ca04b765cbddb3e9d28fc2215d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_18.obj
@@ -0,0 +1,622 @@
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diff --git a/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_19.obj b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb676c64d9e2d877e8019fa40da0a49ac9eef67e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_19.obj
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diff --git a/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_2.obj b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22adf007b981a810444c3457567b99c6b94a7220
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_2.obj
@@ -0,0 +1,385 @@
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diff --git a/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_20.obj b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9883cfee66b191f6def283126a1fd84c8d425812
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_20.obj
@@ -0,0 +1,394 @@
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diff --git a/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_21.obj b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0422b19ec97e4f29e13129df63368beafa306a07
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_21.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_22.obj b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7867ab7e1bf881c73a8327dd1732d797d63675b5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_22.obj
@@ -0,0 +1,334 @@
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diff --git a/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_23.obj b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12c262250386990d311de6f9a7ea82ff5ac31d05
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_23.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_24.obj b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bafd4112512373357a5898de02f478733aa0f959
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_24.obj
@@ -0,0 +1,397 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_25.obj b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3816b11f1a7477ae5e00a29bbd4fab6ed024fb8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_25.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
+v -0.00002074 -0.04025688 0.02933544
+v -0.00002074 -0.04022211 0.02770457
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diff --git a/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_26.obj b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..920e89b63dfbf3f17fe63baa5cc288066581c13c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_26.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_27.obj b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3a150e254a9b18459f4ebdeb0aa641265307d0e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_27.obj
@@ -0,0 +1,847 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_28.obj b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d9885f34e0ec73a34c5df9c1f57192f9c9a6903
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_28.obj
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diff --git a/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_29.obj b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9b8b115634ece12daeb9c8d0a514363cb72eac9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_29.obj
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diff --git a/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_3.obj b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdb5fad3904c18fa7c8fe7eb4e261ca22bff4ef3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_3.obj
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diff --git a/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_30.obj b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88c08b3106f78c8b98a9082bcfb9419fcfde24a3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_30.obj
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diff --git a/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_31.obj b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e89603ea74ebbd93d2b8223b64a439d20705c46
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_31.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_4.obj b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..670103d82a220ed93710cb108d6753c716f8d2cd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_4.obj
@@ -0,0 +1,3835 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_5.obj b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4b273331d85f992fcd6ea19797c7323f240c1af
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_5.obj
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diff --git a/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_6.obj b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12ab9d8e5e4232fe8ad340529b7779d396607638
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_6.obj
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diff --git a/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_7.obj b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..474fba1125d1dc097c4d07de3e52837d9a9adc2d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_7.obj
@@ -0,0 +1,478 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_8.obj b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e798c613172b2eb70964dacd46e5dc948709e87
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_8.obj
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diff --git a/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_9.obj b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_9.obj
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_collision_9.obj
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diff --git a/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/mjcf/mesh/coffee_cup_012_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..80528ef4becb5a2d90a4f375041b300b1f574141
--- /dev/null
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diff --git a/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/textures/material_0.png b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/textures/material_0.png
new file mode 100644
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diff --git a/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/video.mp4 b/dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/video.mp4
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