diff --git a/.gitattributes b/.gitattributes
index dcc3a7030188608f5ea92f78f9453dfea76c32ff..040e19e1f6f7fcae4a991412dd744a157a781184 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4863,3 +4863,5 @@ dataset/kitchen_supplies/ware/e94f934712195839925367ccdb860b4d/thermos_015.usd f
 dataset/kitchen_supplies/ware/ee482d7e539255d4a1036f134b5b34a5/ee482d7e539255d4a1036f134b5b34a5.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/ee482d7e539255d4a1036f134b5b34a5/mesh/bottle.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/ee482d7e539255d4a1036f134b5b34a5/mesh/bottle_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/coffee_cup_036.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mesh/coffee_cup_036.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/coffee_cup_036.urdf b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/coffee_cup_036.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6d5a9ef3bd5ea7beb102e2e5d3cca10d910d0318
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/coffee_cup_036.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="coffee_cup_036">
+   <link name="coffee_cup_036">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/coffee_cup_036.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_036_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>ecc7ef296428590a96b9145650b774bf</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>coffee_cup</category>
+         <name>white coffee cup</name>
+         <color>white,brown</color>
+         <shape>cylinder</shape>
+         <material>ceramic</material>
+         <description>white faceted ceramic coffee cup with handle and latte art</description>
+         <min_height>0.0900</min_height>
+         <max_height>0.0900</max_height>
+         <real_height>0.0900</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611160041</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.050712 -0.049626 -0.048979</min>
+            <max>0.076925 0.049696 0.041021</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/ecc7ef296428590a96b9145650b774bf/coffee_cup_036.usd b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/coffee_cup_036.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/coffee_cup_036.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:568a4cf5d908153b2fe95d95d1ad9627e2eea2ff2cafb5ed65af172f383cac1a
+size 4783724
diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mesh/coffee_cup_036.glb b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mesh/coffee_cup_036.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5b10817b05336cecaee909ef23fdeda111cd3337
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mesh/coffee_cup_036.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b544ad0934f4f4d3d8f60462bee12b8603bcf4af2e455d86c5e9f3c49daf7df9
+size 11346364
diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mesh/coffee_cup_036.mtl b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mesh/coffee_cup_036.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..080e8401789db07a1c1f009a699619aba8ec04ed
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mesh/coffee_cup_036.mtl
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+newmtl coffee_cup_036_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/ecc7ef296428590a96b9145650b774bf/mesh/coffee_cup_036.obj b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mesh/coffee_cup_036.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e94d7306dee01351f51bf26109178e2d3bb6476d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mesh/coffee_cup_036.obj
@@ -0,0 +1,105262 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl coffee_cup_036_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mesh/coffee_cup_036_collision.obj b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mesh/coffee_cup_036_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96c64403f5582c606a1b777a0fe0649d2ab6ec82
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mesh/coffee_cup_036_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mesh/coffee_cup_036_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mesh/coffee_cup_036_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..22d8449f23e22b8531256dd482a5977ef8320af1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mesh/coffee_cup_036_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22703819d9eb9df91bd3e4e65825b3eb7007b53f895180e5a8dceda0b9f56315
+size 8202948
diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mesh/material.mtl b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4f01d2503182bf9e37fb4db479bd71bb0995d9ff
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl coffee_cup_036_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd coffee_cup_036_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mesh/material_0.png b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:22703819d9eb9df91bd3e4e65825b3eb7007b53f895180e5a8dceda0b9f56315
+size 8202948
diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/coffee_cup_036.xml b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/coffee_cup_036.xml
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index 0000000000000000000000000000000000000000..36e36e2823f819a4714aac33fc8ded8d480b0adb
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+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/coffee_cup_036.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="coffee_cup_036">
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+    <mesh name="collision_mesh_0_41" file="mesh/coffee_cup_036_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036.obj b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036.obj
new file mode 100644
index 0000000000000000000000000000000000000000..456a6e2dba1e3c751488d7f149ff5228c3f5bb34
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036.obj
@@ -0,0 +1,105262 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl coffee_cup_036_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision.obj b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19e6743897de9a8189e742a6ffaa1b1800776a50
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision.obj
@@ -0,0 +1,19799 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_0.obj b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..243e2f3de901a5afb4521827fad9e776a8de9bb3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_1.obj b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2dc627a934f00e162b54213a3dfd54c01ea8019a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_10.obj b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e4024883b82d6994a2ac7dbc77139daa5bc066c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_11.obj b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..791bbd66adf5fd9a0ab427ebf43a1ba784e1b91d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_11.obj
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diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_12.obj b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..639f9fa32516504f3ac0937637c00cf705b714fc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_12.obj
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diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_13.obj b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5919dce8ef62a0f17429d8c21f054e9305224cc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_13.obj
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diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_14.obj b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3c9718720e8eff7ebf2a1b2adadbcacd66c076d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_14.obj
@@ -0,0 +1,109 @@
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diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_15.obj b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb0045c040e50e7e6dedee01d7d9c3f4fe104692
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_15.obj
@@ -0,0 +1,547 @@
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diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_16.obj b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96ec3ade3a383dd07ccec150ba1493f652482609
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_16.obj
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diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_17.obj b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7ee1f312328a27c3f437408bc2e5c14fadbe3b9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_17.obj
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diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_18.obj b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0fa9d13a35fda9aea66ee2dca8ace3fd0a22e28
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_18.obj
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diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_19.obj b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..776d1ffbb2e6ad52c48e64bab389cf1ca06c7f44
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_19.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_2.obj b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1a2759265ce6c78761cb5c7ca14504b56e1d7a1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_2.obj
@@ -0,0 +1,430 @@
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diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_20.obj b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bbf9198672c4bfa69c75a470a49add79da76c20
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_20.obj
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diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_21.obj b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e575730933beeaf3e02606bedc605e5a445e039a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_21.obj
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diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_22.obj b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c09d7396fa3d768e4f28266eca88190a2d7b147
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_22.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_23.obj b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e13424d601dba2481e359fa9354dc5c702a9057d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_23.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_24.obj b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f6a96d1d721a2bd65ff1d29d9acb4523c5577e1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_24.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_25.obj b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8243e3fa77e7040bdde07d22925043638aed6bd5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_25.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_26.obj b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21b27602b3b045fb9683dd238033eaaa16399ae0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_26.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.03686663 -0.01493838 0.03373576
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+
diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_27.obj b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e32112690b864bd1c129375119620a5349597d76
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_27.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
+v 0.03572564 0.03331914 0.03355217
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diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_28.obj b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55ff981023969b490706fe4cbb3e56e1742051b5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_28.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_29.obj b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..152d17f2e4e8d4b99b2850e883a338d5e051531b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_29.obj
@@ -0,0 +1,421 @@
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diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_3.obj b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd82dfcae95962a8d2dd958dc42a0acdc16b4aa8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_3.obj
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diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_30.obj b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf0729bbffcdc4edb2d1b2d82257d2f1e19d2fae
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_30.obj
@@ -0,0 +1,250 @@
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diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_31.obj b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1495e92c556ccef488bd3d4916b6e33fa9933b7e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_31.obj
@@ -0,0 +1,235 @@
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diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_32.obj b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5c15aa77a60d1e8b74531efdadabcec5448a928
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_32.obj
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diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_33.obj b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7a87b6bb46fe17754071a21da5b8356e70498ad
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_33.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_34.obj b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e60d2354ae11d1294c9658f053c4d752480ec08c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_34.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_35.obj b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..486290fbfb31297a55472354312065adcb930598
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_35.obj
@@ -0,0 +1,412 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_36.obj b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c3a0d004d374e41b270a2bd3f0243486b4976ef
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_36.obj
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diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_37.obj b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bda2571a47267980a8ef5ebf0933f3117a285c6a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_37.obj
@@ -0,0 +1,526 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_38.obj b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..050e5b99e410ac60de118e7b0a5005530671f241
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_38.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.03671063 -0.03249700 0.03341448
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+
diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_39.obj b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22423b444bb0597d61fe8f576e6672ff7f0b715c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_39.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_4.obj b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c57698edc322908d78409ca08a8baf1ff1d695a6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_4.obj
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diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_40.obj b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0c8ac607dfd7887a638a53c6970053a5f8c34d2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_40.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_41.obj b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..705675cdd9e562965e1f28029b8ed40f3ab3d5b7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_41.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
+v 0.03572564 0.01975604 0.03580756
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+
diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_5.obj b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc5a9d8c7d63dc59ce77bfc00c6fd58c4ec0d2f5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_5.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
+v 0.05812845 -0.00101204 0.03110091
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diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_6.obj b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3661aac826e3aa6b686e85b6970f2d11cb887a7d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_6.obj
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diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_7.obj b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42d88346208d3575f0e7ab9f97b837c0bd48b7ed
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_7.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_8.obj b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87d72c804aa42db260e06e18982474f990a42d5b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_8.obj
@@ -0,0 +1,493 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_9.obj b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3ee410956ee1194447ede68de49900d545fb42d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/mjcf/mesh/coffee_cup_036_collision_9.obj
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