diff --git a/.gitattributes b/.gitattributes
index ac2744f95d639af67c139294d7d63d8d5a99351d..8c74839f6a31a214d908e0a28669d38311d94453 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4743,9 +4743,5 @@ dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/baby_bottle_016.u
 dataset/kitchen_supplies/ware/74a32a2e497e5b3f8d6ec02eeeb5ddec/mesh/baby_bottle_016.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/mesh/wine_glass_010.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/6d6649b30cc952fa879fee71e0c91b1b/wine_glass_010.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/75dc2b4d947d57dbac115180f1b21868/mesh/wine_glass_016.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/75dc2b4d947d57dbac115180f1b21868/wine_glass_016.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/67ae5b643aa05ec486a85d5a0eaf7752/coffee_cup_007.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/67ae5b643aa05ec486a85d5a0eaf7752/mesh/coffee_cup_007.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/67ae5b643aa05ec486a85d5a0eaf7752/mesh/coffee_cup_007.obj filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/67ae5b643aa05ec486a85d5a0eaf7752/mjcf/mesh/coffee_cup_007.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/coffee_cup_031.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mesh/coffee_cup_031.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/coffee_cup_031.urdf b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/coffee_cup_031.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a67e3faa50e9e9c60fbc4349419e765819ffa17f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/coffee_cup_031.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="coffee_cup_031">
+   <link name="coffee_cup_031">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/coffee_cup_031.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_031_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>75eb7cec808b5c7cbe894477de4d787c</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>coffee_cup</category>
+         <name>black coffee cup</name>
+         <color>black</color>
+         <shape>cylinder</shape>
+         <material>ceramic</material>
+         <description>matte black tapered coffee cup with saucer-like base</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>20260611155810</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.048594 -0.048488 -0.042290</min>
+            <max>0.048625 0.048690 0.047710</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/coffee_cup_031.usd b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/coffee_cup_031.usd
new file mode 100644
index 0000000000000000000000000000000000000000..7ee1ac7e9ee402cc4471af44a745f96b0e36bbfe
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/coffee_cup_031.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be8a866780212f16bfaf0baaa00d52754cee8e1380ab3c406fd9f30855d2996e
+size 4939555
diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mesh/coffee_cup_031.glb b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mesh/coffee_cup_031.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mesh/coffee_cup_031.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc3c1fcfdcd8da2935a9323cca1d09da280046cb8971c84d893f85f777616963
+size 11702184
diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mesh/coffee_cup_031.mtl b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mesh/coffee_cup_031.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b1d572086ca0150d5517fb5d4138404adc602cb4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mesh/coffee_cup_031.mtl
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+newmtl coffee_cup_031_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/75eb7cec808b5c7cbe894477de4d787c/mesh/coffee_cup_031.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mesh/coffee_cup_031.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a0e721a1905b80e16cf3698f549a966abd9a7bb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mesh/coffee_cup_031.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl coffee_cup_031_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mesh/coffee_cup_031_collision.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mesh/coffee_cup_031_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7756263108861ae2bc9bf7dccaf10f01f307b152
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mesh/coffee_cup_031_collision.obj
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+version https://git-lfs.github.com/spec/v1
+oid sha256:3fad60dd886ffbfe4fe35cb3f5f67f81ad6ff0403c33d3b4d624f39a55bb4ebe
+size 8301028
diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mesh/material.mtl b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mesh/material.mtl
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
+
+newmtl coffee_cup_031_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mesh/material_0.png b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:3fad60dd886ffbfe4fe35cb3f5f67f81ad6ff0403c33d3b4d624f39a55bb4ebe
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/coffee_cup_031.xml b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/coffee_cup_031.xml
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+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/coffee_cup_031.xml
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e173bd78fe0caa1ad60e9cb00926717a129e8965
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031.obj
@@ -0,0 +1,105678 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6abc3d59c13649875e6ad218ae10f9015abf09dd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision.obj
@@ -0,0 +1,37714 @@
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_0.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7571fd5135e0d6b58aa4b87bbc1d0617c8435cbc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_1.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..524b7bc0b6466fa80e2ae68e5b6139ae32571ce8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_1.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_10.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ccf4f1ba7c73ff12946ecaaa487de42d19236a2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_10.obj
@@ -0,0 +1,409 @@
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_11.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c12893bccfe1e41a2d5e4afd046bea634b56959
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_11.obj
@@ -0,0 +1,1054 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_12.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b9bd2c2b285425fcbe7ab5ede0cff22f167302a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_12.obj
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_13.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..059324fbe89afa8c36ac3f3d12f92243f5b7086c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_13.obj
@@ -0,0 +1,346 @@
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_14.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c843b9cfe93acc3a9789be0e7e0cf06cc5f24199
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_14.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_15.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7930f91d534865463e1e7d425c02f6f3ba69b644
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_15.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_16.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da5837d94d59301734fd7f1fed5c9f7d8aa8a369
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_16.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_17.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eddd951b523e5d1218d6b5a28f5ed53dc58181b9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_17.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
+v -0.03673000 0.00005236 -0.01845302
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_18.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35b049b662b86b35e1d7fcc650c5d3b9b7274260
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_18.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_19.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1777e0ac00f8de7e92edd719e69eb4b5703214e3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_19.obj
@@ -0,0 +1,514 @@
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_2.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3b0012c9dea8fe48885e41f24fbd31420864791
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_2.obj
@@ -0,0 +1,187 @@
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_20.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63287c1e5d4c1435c247e30bbe1b1402a769f879
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_20.obj
@@ -0,0 +1,367 @@
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_21.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28bb90dede200ec81c41c6e70b00c56a3e6d70bd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_21.obj
@@ -0,0 +1,358 @@
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_22.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3f3ee10e9f3623dc05d919ff2b98ecb938c0bfd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_22.obj
@@ -0,0 +1,961 @@
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_23.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5d758242cec72edf6711cdad014b68f8a8f7add
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_23.obj
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_24.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f304950e8a2e604f60195c57819772d99d245cce
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_24.obj
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_25.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88456579f2133c37cdd7a8ffa4691cffc326cd98
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_25.obj
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_26.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69f8df0b79a066c0514bb0e45d4b62f23f21490d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_26.obj
@@ -0,0 +1,658 @@
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_27.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40f7ca722ea9bec492c13e34168e2301a2c0e7c4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_27.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_28.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5c26faa2516e5bacee2f27eeb76b03aee09b71f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_28.obj
@@ -0,0 +1,571 @@
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_29.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee194ddd98dfaa9b22f6d183a055535cc183720d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_29.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_3.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b1337b56ef8d1df6c60c1429d72b1499199bf49
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_3.obj
@@ -0,0 +1,280 @@
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_30.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32d400b6180698a11c872871bbcd4bea575722f5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_30.obj
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_31.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6d8bf50c8c9581d9b3db08d821238edb9db0140
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_31.obj
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_32.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b061b6042d966c72725d9db9bf5b718db3753dcd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_32.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_33.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29a25aeb7950991058d6e17c12259035b776361d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_33.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_34.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ccc0d04c1c16faded9b7c0cca71675c509d0952
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_34.obj
@@ -0,0 +1,598 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_35.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c9ef283e77d92543d501c2fd7dbba6c9fd5e316
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_35.obj
@@ -0,0 +1,280 @@
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_36.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..369b86ae2284e0d1c2d6dfc446a37d9cc4a8b5f1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_36.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_37.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bac124ce9718487708370edcb0478766fb81fa0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_37.obj
@@ -0,0 +1,112 @@
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_38.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d6ce72bf4ee512bd730994dad08509d74b314bd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_38.obj
@@ -0,0 +1,640 @@
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_39.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a361da7177fb375c01571c2ca2dc1b7d91443b30
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_39.obj
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_4.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79d53c1101c48731f20da4ac16d5f1330e55638a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_4.obj
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_40.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19fa3129e9d2725045a1ca724afb445116dd86c9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_40.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_41.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e103fab5841b1942a430be2840f71061c25384db
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_41.obj
@@ -0,0 +1,481 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_42.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e70a460acd3e2d32e29586b400045b9cfca93d25
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_42.obj
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+
diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_43.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9802f46653e4c2ec84e82132964b24ffdbfc91a3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_43.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.01523284 0.04461023 0.02921830
+v -0.01523284 0.04312514 0.01818768
+v -0.01581641 0.04326142 0.02074425
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+v -0.02475632 0.02956851 0.02921825
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+v -0.01523284 0.03159881 0.02705686
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+v -0.02215545 0.04159587 0.02921829
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+
diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_44.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0e01e6dc566468e30b730c3b6c35cd69ee4d0d3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_44.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.01280413 -0.04475099 0.01756184
+v 0.01280413 -0.04466569 0.01668510
+v 0.01366928 -0.04465913 0.01756184
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+v 0.02078421 -0.03669818 -0.01155517
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+
diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_45.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5100fcf12e5e4920e1888b186e666d45f433ba15
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_45.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
+v 0.01233800 0.03626642 0.02884766
+v 0.00000920 0.03828378 0.02884767
+v 0.01233800 0.04546420 0.02884770
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+
diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_46.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb042879cbbf9d077d321d0906957a5902c81bf7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_46.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.02824966 0.02004517 -0.00576036
+v -0.03302262 0.01056222 -0.00576039
+v -0.03817692 0.02004517 -0.00576036
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+v -0.03893021 0.01851063 -0.00576036
+v -0.04141828 0.01888468 0.01472428
+v -0.04085408 0.02004510 0.01459996
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+
diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_47.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf9cbf676769b63046131a94b6831d7b12822e39
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_47.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.04483559 0.00090106 0.01005591
+v 0.04478110 0.00244542 0.01005592
+v 0.04483559 0.00005356 0.01005591
+v 0.04483028 0.00005356 0.01000295
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+
diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_48.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..141e9e89579e6b50fb362a164a433d87ba744f4f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_48.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
+v -0.01707699 -0.03551579 -0.03544779
+v -0.01707699 -0.03542987 -0.03653384
+v -0.01519219 -0.03626752 -0.03651649
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_49.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b6b6795dbfbec901c36106a030684297e1374f9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_49.obj
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_5.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9572904f3d898d9efa7fd24119273a60d33c950d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_5.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_50.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3361573990f2569d0142acfa49b4447ede4add2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_50.obj
@@ -0,0 +1,460 @@
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+
diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_51.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb6e2812aaebcea2da54c1cf77a173e217f10df0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_51.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.04593218 -0.00070156 0.01903386
+v 0.04593074 0.00005222 0.01903386
+v 0.04587619 -0.00230201 0.01903385
+v 0.04262017 -0.00070146 -0.00891934
+v 0.04262161 -0.00013746 -0.00891934
+v 0.04262161 0.00005232 -0.00891934
+v 0.03715614 0.00005222 0.01903386
+v 0.04576134 -0.00390379 0.01903385
+v 0.04255988 -0.00230191 -0.00891935
+v 0.03409250 0.00005232 -0.00891934
+v 0.03449735 -0.01350518 0.01903381
+v 0.03126573 -0.01350508 -0.00891939
+v 0.04559337 -0.00550424 0.01903384
+v 0.04244215 -0.00390369 -0.00891935
+v 0.04390076 -0.01350518 0.01903381
+v 0.04044805 -0.01350508 -0.00891939
+v 0.04536941 -0.00710337 0.01903383
+v 0.04226557 -0.00550414 -0.00891936
+v 0.04239908 -0.00430712 -0.00891936
+v 0.04435873 -0.01190738 0.01903382
+v 0.04093761 -0.01190728 -0.00891938
+v 0.04509233 -0.00870913 0.01903383
+v 0.04482961 -0.00784121 0.01555063
+v 0.04202869 -0.00710327 -0.00891937
+v 0.04220671 -0.00590757 -0.00891936
+v 0.04470902 -0.01051926 0.01903382
+v 0.04162384 -0.01105132 -0.00521181
+v 0.04136973 -0.01029886 -0.00891938
+v 0.04489134 -0.00973098 0.01903382
+v 0.04485832 -0.00959163 0.01851120
+v 0.04176453 -0.00853253 -0.00891937
+v 0.04162958 -0.00946679 -0.00845421
+v 0.04160230 -0.00933275 -0.00891937
+v 0.04164681 -0.00911511 -0.00891937
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+f 1 15 20
+f 1 20 26
+f 1 26 29
+f 1 29 22
+f 1 22 17
+f 1 17 13
+f 1 13 8
+f 1 8 3
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+f 1 6 2
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+
diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_52.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddd41e84ec06e6fe74c689c2f3666ca2e0d2937d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_52.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.00081101 -0.04609301 0.01626276
+v 0.00240771 -0.04604542 0.01626276
+v 0.00000827 -0.04609029 0.01626276
+v 0.00000827 -0.04368606 -0.00292338
+v 0.00081601 -0.04368878 -0.00292338
+v 0.00400817 -0.04594343 0.01626276
+v 0.00241773 -0.04383157 -0.00132331
+v 0.00000827 -0.03696046 0.01626279
+v 0.00000827 -0.04329443 -0.00400269
+v 0.00081601 -0.04329715 -0.00400899
+v 0.00236638 -0.04271242 -0.00518910
+v 0.00561865 -0.04235886 -0.00518910
+v 0.00655163 -0.04222696 -0.00518910
+v 0.00721912 -0.04213177 -0.00518909
+v 0.00561865 -0.04377310 0.00027676
+v 0.00560989 -0.04579113 0.01626276
+v 0.00401819 -0.04391996 0.00027676
+v 0.01280195 -0.03468140 0.01626280
+v 0.01280195 -0.03220236 -0.00518906
+v 0.00000827 -0.03458749 -0.00518907
+v 0.00000827 -0.04281712 -0.00518910
+v 0.00035516 -0.04281848 -0.00518910
+v 0.00081601 -0.04281848 -0.00518910
+v 0.00815335 -0.04196452 -0.00518909
+v 0.00886592 -0.04183669 -0.00518909
+v 0.00995168 -0.04160552 -0.00518909
+v 0.00721912 -0.04379079 0.00187683
+v 0.00721912 -0.04558988 0.01626276
+v 0.01280195 -0.04460673 0.01626277
+v 0.01280195 -0.04083587 -0.00518909
+v 0.01021967 -0.04154025 -0.00518909
+v 0.01070432 -0.04142195 -0.00518909
+v 0.00881958 -0.04372824 0.00347690
+v 0.01042004 -0.04387103 0.00667284
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+v 0.01280195 -0.04453466 0.01558243
+v 0.01202176 -0.04106976 -0.00518909
+v 0.01280195 -0.04339102 0.00784875
+v 0.01203428 -0.04346172 0.00676104
+v 0.01053025 -0.04355419 0.00497618
+v 0.01202176 -0.04375137 0.00827292
+v 0.01280195 -0.04431572 0.01385217
+v 0.01280195 -0.04346989 0.00827292
+v 0.01280195 -0.04363307 0.00918004
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+
diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_53.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e518269c666930491d714874b885f2a96df5b1ff
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_53.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.01017039 0.01688793 -0.03037219
+v 0.01017039 0.01904156 -0.03274893
+v 0.01762649 0.00933894 -0.03037222
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+v 0.01522360 0.03650231 -0.03525320
+v 0.01429515 0.03687538 -0.03525319
+v 0.01349589 0.03716083 -0.03525319
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+f 1 30 16
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+f 1 8 4
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+f 50 60 51
+f 51 60 61
+f 51 61 52
+f 52 62 53
+f 52 61 62
+f 57 59 58
+f 57 60 59
+
diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_54.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c4babb9a1c2692973d67504df04adaac00fdb4f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_54.obj
@@ -0,0 +1,538 @@
+# https://github.com/mikedh/trimesh
+v -0.04196463 -0.01586471 0.01021421
+v -0.04176012 -0.01630076 0.00987210
+v -0.04183708 -0.01620783 0.01021421
+v -0.03287837 -0.01586471 0.01021421
+v -0.04002511 -0.01586465 -0.00539700
+v -0.04178211 -0.01635556 0.01021421
+v -0.02977559 -0.01586463 -0.00987195
+v -0.01949968 -0.03071192 0.01021416
+v -0.03952374 -0.01586464 -0.00932143
+v -0.04000972 -0.01591945 -0.00535178
+v -0.04146325 -0.01715618 0.01021421
+v -0.01949968 -0.02753795 -0.00987199
+v -0.03945117 -0.01586463 -0.00987195
+v -0.01949968 -0.04020737 0.01021412
+v -0.03911033 -0.01671290 -0.00987195
+v -0.03918070 -0.01671291 -0.00932143
+v -0.03938301 -0.01671291 -0.00772099
+v -0.04105644 -0.01810930 0.01021420
+v -0.01949968 -0.03755762 -0.00987203
+v -0.01954586 -0.04018592 0.01021412
+v -0.01959644 -0.04011921 0.00987201
+v -0.01949968 -0.04007154 0.00918190
+v -0.03895420 -0.01707270 -0.00987195
+v -0.04096848 -0.01831184 0.01021420
+v -0.01949968 -0.03763150 -0.00932151
+v -0.02004063 -0.03728836 -0.00987203
+v -0.01964261 -0.04014065 0.01021412
+v -0.02044305 -0.03974749 0.01021412
+v -0.01949968 -0.03772442 -0.00862156
+v -0.03858917 -0.01790907 -0.00987196
+v -0.03862435 -0.01798533 -0.00932144
+v -0.03995035 -0.01899330 0.00470899
+v -0.04018344 -0.01947225 0.00827362
+v -0.04028899 -0.01968433 0.00987209
+v -0.04046711 -0.01939363 0.01021420
+v -0.01999665 -0.03738368 -0.00932151
+v -0.02042766 -0.03708582 -0.00987203
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_55.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a510b43e5033af5517479c31f690ffa3043b2de9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_55.obj
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+
diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_56.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79cfc024cfed3b3bd0a9d27fe33e717ac8d815a6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_56.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.02392052 -0.02982937 0.02882383
+v 0.02392052 -0.02562773 0.02711515
+v 0.01280304 -0.03601309 0.02882381
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+
diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_57.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..283588187567516ba59a9b2b6452bd3211ad7c95
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_57.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.03961169 -0.01586463 -0.00862775
+v -0.03015419 -0.01586463 -0.00862775
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+v -0.03980630 -0.01538164 -0.00862775
+v -0.03413150 0.00005076 -0.00862769
+v -0.03711409 0.00005066 0.01909479
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+v -0.03997775 -0.01492825 -0.00862774
+v -0.04264989 0.00005076 -0.00862769
+v -0.04593213 0.00005066 0.01909479
+v -0.04316578 -0.01573697 0.01909473
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+v -0.04264989 -0.00070333 -0.00862769
+v -0.04593368 -0.00012696 0.01909479
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+
diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_58.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ab3fb97f545332ec43679e8e20807992593653d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_58.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
+v 0.01359487 -0.03969044 -0.01239451
+v 0.01359487 -0.03966974 -0.01252428
+v 0.01522417 -0.03909935 -0.01252165
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_59.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..130dd3215814bb8dd7a10930d881f91f77157c6b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_59.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_6.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13aadbbe1a06d2d464eb8dddb31e9c3cb66ae518
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_6.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.01709322 0.00005236 -0.01972361
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+
diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_60.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb99dc6e8283f4c4666a9f6fbb4379c4454a1837
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_60.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_61.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa8e1f532b6870acfa15244b70b679e88c3053b5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_61.obj
@@ -0,0 +1,154 @@
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_62.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49c431e6626bda301d2ae6de334b0720625bce12
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_62.obj
@@ -0,0 +1,520 @@
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_63.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf5b4bd4626fdebbe1d90288d86188c8899bcd53
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_63.obj
@@ -0,0 +1,202 @@
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_64.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f8a92b8b172c7b7bb2f137ad8bd52d0b8aae4ab
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_64.obj
@@ -0,0 +1,619 @@
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_65.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2efbd71718d41f7c013b1abc9afb0b23fd6601a4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_65.obj
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_66.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60aa587a60a2b517017320146b910e3697c3591b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_66.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_67.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16f6bf5d1a25c30294e0585ba9044dbf71d403c8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_67.obj
@@ -0,0 +1,637 @@
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_68.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0b6915b07691231d6a2794329258a4aba67f679
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_68.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_69.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..831113751c2c12a7ccec3db2a1efeba659582381
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_69.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_7.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e12985d78cf4c7c1a03f118dc78aed0c8abe74c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_7.obj
@@ -0,0 +1,289 @@
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_70.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b7020d9807d45834e6e861dd18139bde0b63ab0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_70.obj
@@ -0,0 +1,154 @@
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_71.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0a5f70acf4ce1e5d8646eab00dfb33ba0217171
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_71.obj
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_72.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7dc9209b624ccd09c2e92955fe2060d2f9a5a1e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_72.obj
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_73.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5ee607eac0e1a07be6903ec405fee29c33d11e3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_73.obj
@@ -0,0 +1,592 @@
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_74.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6df6322e222f7f34683145f26d3d5b4f535d0009
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_74.obj
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_75.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09be32be408bce8b98acdf4ce5f4be9da4d1377c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_75.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_76.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf493e8bdc2b19d2a24737cfe834da11bfc847e2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_76.obj
@@ -0,0 +1,979 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_77.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae8d83e1f5f49d79ab0c8507423cd282ec0b7b60
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_77.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_78.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53dccd4ea820bb3ca539595909ae114e4f48be32
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_78.obj
@@ -0,0 +1,508 @@
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_79.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..feb47546525ae00980e4d7a2360de720e585b46f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_79.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_8.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05c8b414a539c023516995446bf340673a24cbed
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_8.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_80.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63dc6fac59cc13b34be14d480a48ece4e858165e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_80.obj
@@ -0,0 +1,781 @@
+# https://github.com/mikedh/trimesh
+v -0.04240670 0.01530704 0.04789366
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_81.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb65ccc9916889575738030176f0bd93188baffa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_81.obj
@@ -0,0 +1,523 @@
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_82.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c54fc32ed1fb68bca71abb8bfbadc38347a0b15d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_82.obj
@@ -0,0 +1,586 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_83.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07dc4e019cbfe7d8e6513908b1bf2080dff3a7d3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_83.obj
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_84.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d594d7f327681f7e77ac33d5910045ebb7fb61d9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_84.obj
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_85.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcb08353602f4668f1a0771afa7b979eacb3f9e4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_85.obj
@@ -0,0 +1,115 @@
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_86.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e36becb825e4884905b6cff590bbb8b9302f406f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_86.obj
@@ -0,0 +1,1015 @@
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_87.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96accda246f7ecb9d76465e57142714d21a1e24c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_87.obj
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_88.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40b86fc2b0b7f13fb10982d9ea218f5709458aee
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_88.obj
@@ -0,0 +1,394 @@
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_89.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b9a584638ab6bd08811cb363d868b0c22c14b76
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_89.obj
@@ -0,0 +1,601 @@
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_9.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc8d2b54f888fbf43ae62bd4c6e3b9897ba29617
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_9.obj
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_90.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..268f7944f69f46ea9b69318577aa874d9f070d54
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_90.obj
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_91.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..740a6499c461f0df6fbeafe9914e29b76f6d7265
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_91.obj
@@ -0,0 +1,1048 @@
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+
diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_92.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b99919640be17157ed5a7e0ad198e658f0900c0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_92.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.04557701 0.00005223 0.01618577
+v -0.04558816 0.00005223 0.01627278
+v -0.04557561 0.00090096 0.01618577
+v -0.03722820 0.00005223 0.01618577
+v -0.04558677 0.00090096 0.01627278
+v -0.04644424 0.00005220 0.02319629
+v -0.04644424 0.00090093 0.02319629
+v -0.04551845 0.00250173 0.01618578
+v -0.03565548 0.01055699 0.01618581
+v -0.03331313 0.01056211 0.02427625
+v -0.03485517 0.00005220 0.02439649
+v -0.04642751 0.00203875 0.02332553
+v -0.04718737 0.00005218 0.02925613
+v -0.04716507 0.00090091 0.02906931
+v -0.04541528 0.00410249 0.01627280
+v -0.04540412 0.00410249 0.01618579
+v -0.04639962 0.00310661 0.02355457
+v -0.03566106 0.01056214 0.01627282
+v -0.03614904 0.01056214 0.01618581
+v -0.03294504 0.01056210 0.02586926
+v -0.03455959 0.00005219 0.02586922
+v -0.04718180 0.00108712 0.02925613
+v -0.04713300 0.00250168 0.02925614
+v -0.04718737 0.00090091 0.02925613
+v -0.03840774 0.00005218 0.02925613
+v -0.04523960 0.00570223 0.01618579
+v -0.04621140 0.00410247 0.02267170
+v -0.04642053 0.00499029 0.02498637
+v -0.04702704 0.00410244 0.02925615
+v -0.04636058 0.00410246 0.02387190
+v -0.04439886 0.01055802 0.01618581
+v -0.04440862 0.01056214 0.01627282
+v -0.03327966 0.01056210 0.02691207
+v -0.03490816 0.00005219 0.02697473
+v -0.03474363 0.00005219 0.02645396
+v -0.03330197 0.01056210 0.02695558
+v -0.03711387 0.01055694 0.02925617
+v -0.04503464 0.00721555 0.01618580
+v -0.04627414 0.00559521 0.02437987
+v -0.04635779 0.00605712 0.02548794
+v -0.04642472 0.00659825 0.02655379
+v -0.04700891 0.00428968 0.02925615
+v -0.04686949 0.00570218 0.02925615
+v -0.04441141 0.01050555 0.01618581
+v -0.04442256 0.01050555 0.01627282
+v -0.04605106 0.01056209 0.02925617
+v -0.03708180 0.01056209 0.02913333
+v -0.04114327 0.01056209 0.02925617
+v -0.04502349 0.00729785 0.01618580
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+v -0.04470141 0.00914861 0.01618580
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+v -0.04485479 0.00834514 0.01618580
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+v -0.04647212 0.00845002 0.02925616
+v -0.04484502 0.00839658 0.01618580
+v -0.04486036 0.00837394 0.01627281
+v -0.04631318 0.00918251 0.02906934
+v -0.04632433 0.00924629 0.02925616
+v -0.04606500 0.01049830 0.02925617
+v -0.04634106 0.00915679 0.02925616
+f 1 2 5
+f 1 5 3
+f 1 3 8
+f 1 8 16
+f 1 16 26
+f 1 26 38
+f 1 38 49
+f 1 49 55
+f 1 55 58
+f 1 58 51
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+f 1 44 31
+f 1 31 19
+f 1 19 9
+f 1 9 4
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+f 60 63 61
+
diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_93.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c582bb05e5ad6934551eafbd233f55b573e24c42
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_93.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.01523284 0.03099331 0.02586948
+v -0.01523284 0.03156319 0.02700000
+v -0.01523284 0.03142871 0.02414200
+v 0.00000800 0.03484633 0.02427002
+v 0.00000800 0.03450002 0.02586950
+v 0.00000800 0.03471856 0.02644835
+v 0.00000800 0.03494383 0.02703853
+v -0.01523284 0.03159849 0.02705664
+v -0.01523284 0.03384948 0.01787321
+v -0.01523135 0.03385116 0.01786868
+v 0.00000800 0.03709227 0.01786870
+v 0.00000800 0.03874304 0.02944116
+v -0.01523284 0.03564146 0.02944115
+v -0.01523284 0.03386965 0.01786868
+v 0.00000800 0.04620536 0.01786873
+v 0.00000800 0.04816378 0.02944120
+v -0.01523284 0.04464193 0.02944118
+v -0.01523284 0.04308025 0.01786872
+v -0.00078567 0.04620200 0.01786873
+v -0.00078567 0.04620368 0.01787326
+v -0.00078567 0.04816714 0.02944120
+v -0.01514631 0.04467387 0.02944118
+v -0.00961002 0.04654324 0.02491008
+v -0.01523284 0.04329879 0.01947273
+v -0.01523284 0.04312564 0.01818816
+v -0.00939967 0.04648272 0.02384413
+v -0.00878950 0.04582208 0.01786873
+v -0.00238644 0.04614821 0.01786873
+v -0.00238644 0.04614989 0.01787326
+v -0.00193590 0.04810494 0.02944120
+v -0.00718873 0.04591790 0.01786873
+v -0.00800627 0.04652980 0.02184591
+v -0.01474500 0.04481171 0.02944118
+v -0.00963986 0.04656508 0.02586954
+v -0.00878950 0.04682397 0.02586954
+v -0.00883575 0.04664747 0.02433463
+v -0.00825989 0.04657687 0.02267171
+v -0.00905953 0.04640876 0.02267171
+v -0.00863882 0.04630790 0.02121722
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+v -0.00558797 0.04746614 0.02746902
+v -0.01199103 0.04562199 0.02944119
+v -0.00718873 0.04707445 0.02586954
+v -0.01439591 0.04492939 0.02944119
+v -0.00963389 0.04656004 0.02675197
+v -0.01363804 0.04515802 0.02944119
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+
diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_94.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..016a8ecd10b9221a584c058ff3a5ce2e3141785f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_94.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.00000827 -0.04794728 0.02881244
+v 0.00116291 -0.04802312 0.02881244
+v 0.00000827 -0.03810736 0.02881248
+v 0.00000827 -0.04609237 0.01627259
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+v 0.00881958 -0.04532768 0.01626399
+v 0.01280195 -0.03188235 0.02541097
+v 0.00000827 -0.03457616 0.02499820
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+
diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_95.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..534ed718a7d5ab7f6087772d6d8ebc496139d8b4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_95.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.01949968 -0.03303800 0.02907468
+v -0.01949968 -0.02952639 0.02731454
+v -0.01949968 -0.04271272 0.02907464
+v -0.01031871 -0.03703930 0.02907466
+v -0.01949968 -0.02854520 0.02680573
+v -0.01949968 -0.04271272 0.02906836
+v -0.01476938 -0.04505615 0.02586968
+v -0.01359243 -0.04562064 0.02586968
+v -0.01889007 -0.04299407 0.02907464
+v -0.01031422 -0.04580941 0.02907463
+v -0.01031422 -0.03703574 0.02905958
+v -0.01031422 -0.03318401 0.02698663
+v -0.01911935 -0.02866985 0.02671903
+v -0.01949968 -0.02830302 0.02586975
+v -0.01949968 -0.04147329 0.01969350
+v -0.01441513 -0.04474271 0.01853765
+v -0.01448706 -0.04479791 0.01947237
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+v -0.01031422 -0.04583790 0.02907463
+v -0.01031422 -0.03278691 0.02586973
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+v -0.01949968 -0.03137653 0.01623983
+v -0.01031422 -0.03316085 0.02423899
+f 1 2 5
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+f 1 44 46
+f 1 46 33
+f 1 33 32
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_96.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fca8c992433546995d284fde72c831667657fc28
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_96.obj
@@ -0,0 +1,469 @@
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diff --git a/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_97.obj b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b47e098618ef87d3375a5103460f698c9da7f99
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/75eb7cec808b5c7cbe894477de4d787c/mjcf/mesh/coffee_cup_031_collision_97.obj
@@ -0,0 +1,181 @@
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