diff --git a/.gitattributes b/.gitattributes
index 66a5f0493fa5fd4e0b3208183b69596152023387..2c5a462fd1bfdac630cf737346568a38854d4293 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4834,3 +4834,5 @@ dataset/kitchen_supplies/ware/d6ebae594b5f59faba25dce50496ac02/wine_glass_039.us
 dataset/kitchen_supplies/ware/dab02590cf5e59dfa91cb1257b393b18/dab02590cf5e59dfa91cb1257b393b18.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/dab02590cf5e59dfa91cb1257b393b18/mesh/bottle.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/dab02590cf5e59dfa91cb1257b393b18/mesh/bottle_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/coffee_cup_018.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mesh/coffee_cup_018.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/coffee_cup_018.urdf b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/coffee_cup_018.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fba1b84f58c0eb7e2c11ef0d1d8252deff455374
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/coffee_cup_018.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="coffee_cup_018">
+   <link name="coffee_cup_018">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/coffee_cup_018.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_018_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>da22f5460d8e58df8dfe653df2dae183</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>coffee_cup</category>
+         <name>striped mug</name>
+         <color>white,red</color>
+         <shape>cylinder</shape>
+         <material>ceramic</material>
+         <description>white ceramic coffee cup with red vertical stripes and ornate scroll pattern</description>
+         <min_height>0.0540</min_height>
+         <max_height>0.0540</max_height>
+         <real_height>0.0540</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609202021</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.030999 -0.027768 -0.027013</min>
+            <max>0.041921 0.027674 0.026947</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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/da22f5460d8e58df8dfe653df2dae183/coffee_cup_018.usd b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/coffee_cup_018.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/coffee_cup_018.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c1ad87e970bf827e321f2f2de8ae8e11ece8c456061d508d5fd953dcf2a66dd
+size 4883498
diff --git a/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mesh/coffee_cup_018.glb b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mesh/coffee_cup_018.glb
new file mode 100644
index 0000000000000000000000000000000000000000..44dfb0257fa8a6f0085e5464bb5cef26f258c7f0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mesh/coffee_cup_018.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 11743580
diff --git a/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mesh/coffee_cup_018.mtl b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mesh/coffee_cup_018.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..908ffe451414d5020ffda9522242526b2a7a07c2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mesh/coffee_cup_018.mtl
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+newmtl coffee_cup_018_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/da22f5460d8e58df8dfe653df2dae183/mesh/coffee_cup_018.obj b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mesh/coffee_cup_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a00f9488ab0aa7d94ffc2862708666553fc2e035
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mesh/coffee_cup_018.obj
@@ -0,0 +1,103408 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl coffee_cup_018_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mesh/coffee_cup_018_collision.obj b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mesh/coffee_cup_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba02ac0a65483ff1067e2f3a5b11453d5ed1fe11
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mesh/coffee_cup_018_collision.obj
@@ -0,0 +1,21279 @@
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diff --git a/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mesh/coffee_cup_018_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mesh/coffee_cup_018_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..bec04ce75424b76cd9af58a7b403b5f001ddb334
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mesh/coffee_cup_018_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68ca1f171f85993e92aaa1fb7de6afb16c94acebd21bbe7e9be7263da9ba8732
+size 8444384
diff --git a/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mesh/material.mtl b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..60c2854cbb012d20ff3e97722d8f236ddc4da3da
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl coffee_cup_018_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_018_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mesh/material_0.png b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..bec04ce75424b76cd9af58a7b403b5f001ddb334
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68ca1f171f85993e92aaa1fb7de6afb16c94acebd21bbe7e9be7263da9ba8732
+size 8444384
diff --git a/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/coffee_cup_018.xml b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/coffee_cup_018.xml
new file mode 100644
index 0000000000000000000000000000000000000000..007deb8c3c794b3cee86055f4f0df8c3fd6c69d8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/coffee_cup_018.xml
@@ -0,0 +1,94 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="coffee_cup_018">
+  <asset>
+    <material name="material_0" texture="texture_0_coffee_cup_018_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_coffee_cup_018_geometry_Looks_material_0" type="2d" file="mesh/coffee_cup_018_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/coffee_cup_018.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/coffee_cup_018_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/coffee_cup_018_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/coffee_cup_018_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/coffee_cup_018_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/coffee_cup_018_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/coffee_cup_018_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/coffee_cup_018_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/coffee_cup_018_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/coffee_cup_018_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/coffee_cup_018_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/coffee_cup_018_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/coffee_cup_018_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/coffee_cup_018_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/coffee_cup_018_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/coffee_cup_018_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/coffee_cup_018_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/coffee_cup_018_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/coffee_cup_018_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/coffee_cup_018_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/coffee_cup_018_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/coffee_cup_018_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/coffee_cup_018_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/coffee_cup_018_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/coffee_cup_018_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/coffee_cup_018_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/coffee_cup_018_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/coffee_cup_018_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/coffee_cup_018_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/coffee_cup_018_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/coffee_cup_018_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/coffee_cup_018_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/coffee_cup_018_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/coffee_cup_018_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/coffee_cup_018_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/coffee_cup_018_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/coffee_cup_018_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/coffee_cup_018_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/coffee_cup_018_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/coffee_cup_018_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/coffee_cup_018_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="coffee_cup_018">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018.obj b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63103a2d2f197ed8f8694cbf4ae8d1b3fc44bbe5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018.obj
@@ -0,0 +1,103408 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl coffee_cup_018_geometry_Looks_material_0
+v 0.033258 0.000850 -0.002271
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diff --git a/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision.obj b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b389c15dedfc6678937f0f8859330451c2d2b7c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision.obj
@@ -0,0 +1,21279 @@
+# https://github.com/mikedh/trimesh
+
+o coffee_cup_018_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_0.obj b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54d86c2c2a222634e90e44d58b7f832cef17e7ea
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_1.obj b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a7e3d33aa683ffededbf9f862c60766fbee3bb2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_10.obj b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46f1b47833c4bcf60c7bb9c55442ccdff5e302fd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_11.obj b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bd0f3071e97549a591c7b2a054ac8ea2bd35e8f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_11.obj
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diff --git a/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_12.obj b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35e95ed7ac7bf47bc85b450a935fd2d949bc86bc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_12.obj
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diff --git a/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_13.obj b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43b4c9e550991416510cd906198bd7bee9704b57
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_13.obj
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diff --git a/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_14.obj b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c16064ea5db476a12ce72cf42fc5e2f77676c619
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_14.obj
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diff --git a/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_15.obj b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92603f6147285f92ca6d67aacc5fff846ff9d185
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_15.obj
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diff --git a/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_16.obj b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7be4e86dba228c2d5953b6f79a157cfda808f254
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_16.obj
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diff --git a/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_17.obj b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..563e204662d9784a5b30182bf833be2e4a56fe2d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_17.obj
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diff --git a/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_18.obj b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11abd9be5e0ce36a1caa083f6eee15ffa03050eb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_18.obj
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diff --git a/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_19.obj b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5d8a10fa17e255879f6397549225354ebb91b02
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_19.obj
@@ -0,0 +1,238 @@
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diff --git a/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_2.obj b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3aad06c10eb53f434cbead662e695c736f8cc3d0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_2.obj
@@ -0,0 +1,760 @@
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diff --git a/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_20.obj b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71020a1cc4140fbf71a65c3f0009b337e75d4a07
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_20.obj
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diff --git a/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_21.obj b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b88b74a9d489df3d35c8aebd534eac596297a9c4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_21.obj
@@ -0,0 +1,391 @@
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diff --git a/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_22.obj b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83f2591bcd5e89343d9c9d8edbe0dcd4d0cbb4a3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_22.obj
@@ -0,0 +1,223 @@
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diff --git a/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_23.obj b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b41c6c4ad6753ad70d496bd2879a2f6c2094616e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_23.obj
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diff --git a/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_24.obj b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..323a5d8f2e41cf615e0a125b385da0cfac8ef715
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_24.obj
@@ -0,0 +1,292 @@
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diff --git a/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_25.obj b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c999c49b6237b5a93244dae08626f47a0403e5e6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_25.obj
@@ -0,0 +1,583 @@
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diff --git a/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_26.obj b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f2d4a80858451be95b84df690a08cdb985eced1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_26.obj
@@ -0,0 +1,514 @@
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diff --git a/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_27.obj b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bbfe23b6981fe8647304374477fc5071f083151
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_27.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_28.obj b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff08888a2a8cfc8d425fe8383a186eb1b0f7684b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_28.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_29.obj b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e89be43c9620ab2155ff59b2489ef3ed0ea51643
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_29.obj
@@ -0,0 +1,481 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_3.obj b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45b9a7456e0c8d973e245c4683e6492518ea91b4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_3.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_30.obj b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12cc13ebfd93bb6be05f27c84189ae588e8a9a52
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_30.obj
@@ -0,0 +1,481 @@
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diff --git a/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_31.obj b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b61af5945ec6b5504df0bddecf81d89ba7efa9dc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_31.obj
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diff --git a/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_32.obj b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb27bbc8c32dba8ee10ab8cfcaabf14a7f2f0aab
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_32.obj
@@ -0,0 +1,1609 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_33.obj b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c36c545391bbcfe95895174fbda9816c2ab1a0e4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_33.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_34.obj b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f63af7902aa704b54545fc14ddcec376d8fbba9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_34.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_35.obj b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..778e50c970885e970fdcf384b5dc4f6170ad6ce2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_35.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_36.obj b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90d43697b82a5d0e23d73dbdd7f174dfecbefb90
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_36.obj
@@ -0,0 +1,628 @@
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diff --git a/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_37.obj b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e64202abcd7a7bed4eaeeda6b0eb2f9102aa9980
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_37.obj
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diff --git a/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_38.obj b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b378def327829b0f0bc52824ddc93e7bcc4fe61
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_38.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_39.obj b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12bbabe8eaf4f1dae302fffa88e055474eea2b59
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_39.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.01970153 -0.00565091 -0.01431355
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+
diff --git a/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_4.obj b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aff5d966130901a46830b731e12ebc71c9f60689
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_4.obj
@@ -0,0 +1,517 @@
+# https://github.com/mikedh/trimesh
+v -0.00052141 0.02221811 0.01028214
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diff --git a/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_5.obj b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41a35a887470a41e8a2b1ccf1c8181a98dc87a85
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_5.obj
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diff --git a/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_6.obj b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42e5069679a1e02069bfbf99ce73bd412083ec87
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_6.obj
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diff --git a/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_7.obj b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..058004a2a06cff7a28341049766d30a24bce0a68
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_8.obj b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..413853da0c59e0cda0c1a51819fe90cae47c51e1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_8.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_9.obj b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01e48636af8de13fa8c029c06e73c01172d6ccea
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/da22f5460d8e58df8dfe653df2dae183/mjcf/mesh/coffee_cup_018_collision_9.obj
@@ -0,0 +1,1936 @@
+# https://github.com/mikedh/trimesh
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