diff --git a/.gitattributes b/.gitattributes
index 80cd686bb19e267d1407d82413d2351f1b03ec46..f19fc0ac8c2f14c9362993eaf5115f28e9c0e263 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4679,5 +4679,5 @@ dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mesh/ceramic_teap
 dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mesh/ceramic_teapot_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/3b6919428a145cc0a774a86a861f9af6/baby_bottle_011.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/3b6919428a145cc0a774a86a861f9af6/mesh/baby_bottle_011.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/mesh/wine_glass_007.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/wine_glass_007.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/coffee_cup_015.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mesh/coffee_cup_015.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/coffee_cup_015.urdf b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/coffee_cup_015.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cacfd6501f14fa7d75f95410bb2506fc21fa3b51
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/coffee_cup_015.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="coffee_cup_015">
+   <link name="coffee_cup_015">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/coffee_cup_015.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_015_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.5000" />
+         <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>3a2da3bd99805a84b84cbd71e88aa2f9</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>coffee_cup</category>
+         <name>cup and saucer</name>
+         <color>white,brown</color>
+         <shape>cylinder</shape>
+         <material>ceramic</material>
+         <description>white ceramic coffee cup on matching saucer with coffee inside</description>
+         <min_height>0.0525</min_height>
+         <max_height>0.0525</max_height>
+         <real_height>0.0525</real_height>
+         <min_mass>0.35</min_mass>
+         <max_mass>0.65</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518191517</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.057347 -0.057766 -0.019950</min>
+            <max>0.057334 0.056991 0.032544</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <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/3a2da3bd99805a84b84cbd71e88aa2f9/coffee_cup_015.usd b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/coffee_cup_015.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/coffee_cup_015.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e85170e2d5bb2601c7a75d504b95123ab5989f63f667cb282d9c07013fe4c7f
+size 4936920
diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mesh/coffee_cup_015.glb b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mesh/coffee_cup_015.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ffafe0232ce5997da92b1bce86924dcbae824289
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mesh/coffee_cup_015.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 13089932
diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mesh/coffee_cup_015.mtl b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mesh/coffee_cup_015.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e5e852e98da6d39395e82c0d7816b5eb6d1141f3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mesh/coffee_cup_015.mtl
@@ -0,0 +1,6 @@
+newmtl coffee_cup_015_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/3a2da3bd99805a84b84cbd71e88aa2f9/mesh/coffee_cup_015.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mesh/coffee_cup_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8f48c2d5c3c2d3f7a8a493fe55014d85ed865b3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mesh/coffee_cup_015.obj
@@ -0,0 +1,105562 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mesh/coffee_cup_015_collision.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mesh/coffee_cup_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..351767e6668120f2ff365704a8b6e2c8b3b61a02
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mesh/coffee_cup_015_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mesh/coffee_cup_015_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mesh/coffee_cup_015_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..583db70c07b7bd992ee94a0b75d46406e706ec6f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mesh/coffee_cup_015_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ef63f2da3b99a0a84dda4afac0a4ab5d21fa4f50696963f374beb24e9eccfd0
+size 9708335
diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mesh/material.mtl b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b512fa297b3612b081a7ffd80ba522acd6bdec98
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl coffee_cup_015_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd coffee_cup_015_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mesh/material_0.png b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..583db70c07b7bd992ee94a0b75d46406e706ec6f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ef63f2da3b99a0a84dda4afac0a4ab5d21fa4f50696963f374beb24e9eccfd0
+size 9708335
diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/coffee_cup_015.xml b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/coffee_cup_015.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7ea6e989ff8062592ef9bcfcaa72bdb0c3714ac7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/coffee_cup_015.xml
@@ -0,0 +1,120 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="coffee_cup_015">
+  <asset>
+    <material name="material_0" texture="texture_0_coffee_cup_015_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_coffee_cup_015_geometry_Looks_material_0" type="2d" file="mesh/coffee_cup_015_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/coffee_cup_015.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/coffee_cup_015_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/coffee_cup_015_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/coffee_cup_015_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/coffee_cup_015_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/coffee_cup_015_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/coffee_cup_015_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/coffee_cup_015_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/coffee_cup_015_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/coffee_cup_015_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/coffee_cup_015_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/coffee_cup_015_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/coffee_cup_015_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/coffee_cup_015_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/coffee_cup_015_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/coffee_cup_015_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/coffee_cup_015_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/coffee_cup_015_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/coffee_cup_015_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/coffee_cup_015_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/coffee_cup_015_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/coffee_cup_015_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/coffee_cup_015_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/coffee_cup_015_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/coffee_cup_015_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/coffee_cup_015_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/coffee_cup_015_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/coffee_cup_015_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/coffee_cup_015_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/coffee_cup_015_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_30" file="mesh/coffee_cup_015_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/coffee_cup_015_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/coffee_cup_015_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/coffee_cup_015_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/coffee_cup_015_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/coffee_cup_015_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/coffee_cup_015_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/coffee_cup_015_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/coffee_cup_015_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/coffee_cup_015_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/coffee_cup_015_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/coffee_cup_015_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/coffee_cup_015_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/coffee_cup_015_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/coffee_cup_015_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/coffee_cup_015_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/coffee_cup_015_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/coffee_cup_015_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/coffee_cup_015_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/coffee_cup_015_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/coffee_cup_015_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/coffee_cup_015_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/coffee_cup_015_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="coffee_cup_015">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_48" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_50" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_52" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e96e596af683d894c10c6deb1d529d1af98f41c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015.obj
@@ -0,0 +1,105562 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl coffee_cup_015_geometry_Looks_material_0
+v -0.003333 0.054477 0.019607
+v -0.003333 0.054477 0.019607
+v -0.003333 0.054477 0.019607
+v -0.003326 0.054005 0.019009
+v -0.003326 0.054005 0.019009
+v -0.003326 0.054005 0.019009
+v -0.003344 0.054580 0.021866
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diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e410414215d8bab5c19011ca6ff4f2a935a690c1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision.obj
@@ -0,0 +1,26074 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_0.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03fb2bf9c9b3a095e4faba923067656cd0f09bca
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_1.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa139a7d84507fb2707fd68af3346626a2817e10
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_1.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_10.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e06f79afe3d23872b5832a3137a7110ac269f7a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_10.obj
@@ -0,0 +1,307 @@
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diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_11.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cac97d946364bcf2297baca3bab0878263569fad
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_11.obj
@@ -0,0 +1,436 @@
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diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_12.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b40a1efa6ba6cd9f7a5ac6665a05052a7a580286
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_12.obj
@@ -0,0 +1,292 @@
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diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_13.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..128dd5480cb1346c5c518814f125dffe65573cb9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_13.obj
@@ -0,0 +1,403 @@
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diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_14.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c41093b070da8e33586a9969b4d91aa9cc0a603
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_14.obj
@@ -0,0 +1,1093 @@
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diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_15.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d601b3c60c91a73106aaf341e4ed24e0ab58cd0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_15.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+v -0.03302351 -0.02140792 0.01877323
+v -0.03302351 -0.00511779 0.01777323
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+v -0.01471813 -0.02140792 0.01877323
+v -0.01471813 -0.00511779 0.01777323
+v -0.01471813 -0.00511779 0.01877323
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+f 2 8 4
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+f 6 8 2
+f 4 8 3
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+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_16.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b38f220e43353794b82b512fceb2aaa57385dca
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_16.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_17.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93d176b0171f3c18708ec56fd998e2703dfbf1f3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_17.obj
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diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_18.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7a4fd904061b91b68f0bd23a5ed857ed577565d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_18.obj
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diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_19.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1630dcd3fd3fb7c8a84f0fd79561b0583cc72c6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_19.obj
@@ -0,0 +1,541 @@
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diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_2.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d87a8653c56f3be4ef5dabba98f29d54889670ef
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_2.obj
@@ -0,0 +1,2209 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_20.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27fcd4a474e3c6ad3abf6d1b2a69c952f1ff4776
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_20.obj
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diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_21.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84dbf33956b0f02d2f9860b1d28397050bbf5f75
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_21.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_22.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16f69cece2fc3f3edcdf9dd5f88be09a3a03b36f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_22.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_23.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67f6af7a8e9019cdc958d30628eab3b9a3f70b1f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_23.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_24.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b80e433af2769d7991dc9f1cc72c81846624d33
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_24.obj
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diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_25.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e50a8e9397d4221660ef4cfd5f6947d75be1df9b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_25.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_26.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ea429c6942d9dddf6595e019eb625e94446feee
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_26.obj
@@ -0,0 +1,457 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_27.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93d051b83643f10f1f6bd27042562752263c89cb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_27.obj
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diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_28.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b6b6af4492f104b19c6e6567a743a6f6a3fec0d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_28.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_29.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c946a866f99822810102e11a130e45262f3f76f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_29.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_3.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d0fa74ae5d58fb4271f67f374213209b3d3ac14
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_3.obj
@@ -0,0 +1,796 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_30.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3d8bdff8b0fd030ac3f8d9dc017d35b2f270053
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_30.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_31.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa52417f07d2fa2efe6d1c1a315e231b8406132d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_31.obj
@@ -0,0 +1,754 @@
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diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_32.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b6aafb25cd70692f606345f3e0ce2740a0f4bc4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_32.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_33.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a012983f100a7bc6442aad74c4889582f46cf5f0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_33.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_34.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fee6f1e58b35498ee8a1d6f4e7217d4cc81f8987
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_34.obj
@@ -0,0 +1,127 @@
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diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_35.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7824dd0ff5908cf17edbeeb6d9e4bbb6f663378
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_35.obj
@@ -0,0 +1,1060 @@
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+
diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_36.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11c347c83f60c9de1e108acab671a1142bdf7844
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_36.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_37.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a0d656024b46c8fac5375c3b97f2ccfa401a751
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_37.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_38.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6bed62b683e1195533c6c64b1e6dfe25385ef4c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_38.obj
@@ -0,0 +1,1108 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_39.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e543a85570cbce87875371991190251140815e8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_39.obj
@@ -0,0 +1,250 @@
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diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_4.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d31ebd1fd05a1a31fa68c690323ea4832458b584
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_4.obj
@@ -0,0 +1,1072 @@
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diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_40.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dac3a5727953d3d48ae837d9519403788225fd5d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_40.obj
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diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_41.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f22cf0bfb1a58594948986ab850b42372223fb4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_41.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_42.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c206d29ef89a612c65d72710f7e991338517fcf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_42.obj
@@ -0,0 +1,427 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_43.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a75051d17c9410b001817b326d5e1e854b060ff
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_43.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_44.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed662c05e11daeab2741e5d5903e076b95a02f86
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_44.obj
@@ -0,0 +1,241 @@
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+
diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_45.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ae76c44c53a29102989d9ddc84e0e42c25c5170
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_45.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.05319189 -0.02334962 -0.00856183
+v 0.05318965 -0.02334962 -0.00893721
+v 0.05279259 -0.02334962 -0.00764393
+v 0.05166870 -0.02603670 -0.00786230
+v 0.05138156 -0.02715242 -0.00850050
+v 0.05138156 -0.02715242 -0.00897437
+v 0.05165300 -0.02599084 -0.00963564
+v 0.05259742 -0.02401254 -0.00957991
+v 0.05277240 -0.02334961 -0.00984217
+v 0.05240450 -0.02334962 -0.00706426
+v 0.05143540 -0.02540052 -0.00679975
+v 0.05109218 -0.02666716 -0.00725899
+v 0.05070409 -0.02784783 -0.00786230
+v 0.04969013 -0.02977073 -0.00801426
+v 0.04940074 -0.03079856 -0.00875320
+v 0.05068390 -0.02784782 -0.00963564
+v 0.05108321 -0.02659073 -0.01021531
+v 0.04940074 -0.03079856 -0.00877796
+v 0.04967442 -0.02973825 -0.00951803
+v 0.05140848 -0.02532313 -0.01074657
+v 0.05191546 -0.02334961 -0.01107693
+v 0.05193341 -0.02334963 -0.00664160
+v 0.05169786 -0.02414057 -0.00666805
+v 0.04980005 -0.02794146 -0.00668495
+v 0.04950618 -0.02908964 -0.00682397
+v 0.04909566 -0.03035724 -0.00751169
+v 0.04745582 -0.03264026 -0.00695342
+v 0.04772277 -0.03301949 -0.00819492
+v 0.04948150 -0.02903709 -0.01071620
+v 0.04840921 -0.03168788 -0.00963510
+v 0.04909566 -0.03030374 -0.01001891
+v 0.04772277 -0.03301949 -0.00925128
+v 0.05167767 -0.02414055 -0.01099138
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+v 0.05138605 -0.02334961 -0.01151928
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+v 0.05034517 -0.02414057 -0.00636302
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+v 0.04671105 -0.03190092 -0.00653358
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+
diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_46.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f5e38301aa52a6a28acc7fcc0bfc0a57dfeca50
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_46.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.00094336 0.02528598 -0.00630719
+v 0.00723140 0.02343778 -0.00630719
+v 0.00806739 0.02259865 -0.00708957
+v 0.00801026 0.02259865 -0.00710951
+v 0.00664296 0.02279804 -0.00733833
+v 0.00664296 0.02259865 -0.00755275
+v 0.00474246 0.02259865 -0.00803742
+v 0.00284196 0.02259865 -0.00837101
+v 0.00118520 0.02259865 -0.00853028
+v 0.00026542 0.02259865 -0.00856993
+v -0.00027921 0.02259865 -0.00856993
+v -0.00095905 0.02527572 -0.00630719
+v 0.00853394 0.02304083 -0.00630720
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+v -0.00119900 0.02259865 -0.00853116
+v -0.00175125 0.02259865 -0.00848088
+v -0.00285575 0.02259865 -0.00837788
+v -0.00475625 0.02259865 -0.00803941
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+v 0.00968986 0.02259864 -0.00630720
+v -0.00976459 0.02259864 -0.00630720
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+f 25 30 26
+f 27 31 28
+
diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_47.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ee97d39c7c16170aa68d43b21e0187e0b845a42
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_47.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.02014330 0.03143320 -0.01347792
+v 0.02014330 0.02259867 -0.01381631
+v 0.02014330 0.03143322 -0.01854586
+v -0.00979047 0.03143320 -0.01376483
+v -0.00285496 0.02259867 -0.01366857
+v -0.00095626 0.02259867 -0.01365340
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+v -0.00979047 0.02259867 -0.01375629
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+v -0.00475658 0.03143322 -0.02018351
+v 0.02014330 0.02503476 -0.02020926
+f 1 2 10
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+f 33 36 34
+f 34 36 37
+
diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_48.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6bd4ee215c5520fd18cd79643e2185fdef11f70
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_48.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.01113360 -0.02355123 0.01777731
+v 0.01113360 -0.02690224 0.01914125
+v 0.01113360 -0.03196264 0.01777728
+v -0.00417481 -0.02564548 0.01777731
+v -0.00417481 -0.02882023 0.01914124
+v 0.01113360 -0.03225988 0.01914123
+v 0.01063011 -0.03245075 0.01914123
+v 0.01036038 -0.03224529 0.01777728
+v -0.00417481 -0.03364910 0.01777728
+v -0.00417481 -0.03393070 0.01914123
+v 0.01018506 -0.03259467 0.01914123
+v 0.00928748 -0.03258529 0.01777728
+v -0.00285615 -0.03380971 0.01777728
+v -0.00285615 -0.03409027 0.01914122
+v 0.00968158 -0.03275216 0.01914123
+v 0.00920057 -0.03261240 0.01777728
+v -0.00142361 -0.03389628 0.01777728
+v -0.00206945 -0.03414033 0.01914122
+v 0.00854573 -0.03307756 0.01914123
+v 0.00854723 -0.03279075 0.01777728
+v -0.00095609 -0.03392444 0.01777728
+v -0.00102801 -0.03420291 0.01914122
+v 0.00831797 -0.03285228 0.01777728
+v 0.00756723 -0.03330910 0.01914123
+v 0.00094398 -0.03392652 0.01777728
+v 0.00094398 -0.03420604 0.01914122
+v -0.00000156 -0.03420499 0.01914122
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+v 0.00170221 -0.03416640 0.01914122
+v 0.00617515 -0.03332474 0.01777728
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diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_49.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..344e6401445d1e481670d1f14359205a6ff5469f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_49.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_5.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b98350c9870204447b73c0d7bdff730678549271
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_5.obj
@@ -0,0 +1,523 @@
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diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_50.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a4ff9d8867041abf7e4360766dd392ebe5a79be
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_50.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_51.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb309481856ad9bb1f4c96723776e8659d47b7c3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_51.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_52.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e75aaab4f07075a7e4382b2ec70e7dcc4c71e31
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_52.obj
@@ -0,0 +1,220 @@
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diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_6.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67290c45cf44ba69c9af816f75854fee4962ceda
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_6.obj
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diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_7.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..778ffa9410c168e196abf9ce0bbefeec5d045897
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_8.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b8f319f0e879f54b7a9db735f7edd8899371a3b
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diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_9.obj b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_collision_9.obj
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diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/mjcf/mesh/coffee_cup_015_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/textures/material_0.png b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/textures/material_0.png
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diff --git a/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/video.mp4 b/dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/video.mp4
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