diff --git a/.gitattributes b/.gitattributes
index e83307eeba5996a41577d537023e74ac9e8871e3..4f05494fc15e0f6c3e9db61fd252334067c7bfb6 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4731,6 +4731,5 @@ dataset/kitchen_supplies/ware/6032cdcee4405cb898cfeee0abb05000/mesh/thermos_019.
 dataset/kitchen_supplies/ware/6032cdcee4405cb898cfeee0abb05000/thermos_019.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/6835485fe5f559dbb64ae2f38e3b9868/mesh/thermos_037.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/6835485fe5f559dbb64ae2f38e3b9868/thermos_037.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/6ab22d7fc07f544c998520e18ea2ec44/6ab22d7fc07f544c998520e18ea2ec44.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/6ab22d7fc07f544c998520e18ea2ec44/mesh/water_bottle.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/6ab22d7fc07f544c998520e18ea2ec44/mesh/water_bottle_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/coffee_cup_017.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mesh/coffee_cup_017.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/coffee_cup_017.urdf b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/coffee_cup_017.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cc3198fe3e59f5af1a1875923159c8fb3fbd2ff2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/coffee_cup_017.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="coffee_cup_017">
+   <link name="coffee_cup_017">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/coffee_cup_017.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_017_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>6a8b911b21ee5ee8884ca3ca93289f65</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>coffee_cup</category>
+         <name>white coffee cup</name>
+         <color>white</color>
+         <shape>cylinder</shape>
+         <material>ceramic</material>
+         <description>white tapered coffee cup on matching saucer with curved handle</description>
+         <min_height>0.0718</min_height>
+         <max_height>0.0718</max_height>
+         <real_height>0.0718</real_height>
+         <min_mass>0.35</min_mass>
+         <max_mass>0.65</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518191618</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.049353 -0.049818 -0.031327</min>
+            <max>0.049904 0.057283 0.040440</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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/6a8b911b21ee5ee8884ca3ca93289f65/coffee_cup_017.usd b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/coffee_cup_017.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/coffee_cup_017.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f16c94b30149f1c49136cb7e8c967f0648d8b77f1ab7763581cd61b79afbbd50
+size 4892814
diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mesh/coffee_cup_017.glb b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mesh/coffee_cup_017.glb
new file mode 100644
index 0000000000000000000000000000000000000000..4bd338975bb05053c956578e7a394cd91179d935
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mesh/coffee_cup_017.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 11478360
diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mesh/coffee_cup_017.mtl b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mesh/coffee_cup_017.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8ccb0d5d950ab7f9463e47fdd2bfe252ef587a75
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mesh/coffee_cup_017.mtl
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+newmtl coffee_cup_017_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/6a8b911b21ee5ee8884ca3ca93289f65/mesh/coffee_cup_017.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mesh/coffee_cup_017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e1c0965e0c135457c11cdbbb6157830d7ceb398
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mesh/coffee_cup_017.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mesh/coffee_cup_017_collision.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mesh/coffee_cup_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1280fd80454a0de27a07d65f39328fe3ef120411
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mesh/coffee_cup_017_collision.obj
@@ -0,0 +1,36168 @@
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diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mesh/coffee_cup_017_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mesh/coffee_cup_017_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..77fa4c9a395702c9c100100964a0bebebfecc15e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mesh/coffee_cup_017_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4dc025324e5aaa3def0bbc802277e31138c6875b638866d82681d44a2efbfe7
+size 8166887
diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mesh/material.mtl b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7c7eac6bd357f2dcde2c7f51823d3ff1c8821650
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl coffee_cup_017_geometry_Looks_material_0
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+Ns 1.00000000
+map_Kd coffee_cup_017_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mesh/material_0.png b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4dc025324e5aaa3def0bbc802277e31138c6875b638866d82681d44a2efbfe7
+size 8166887
diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/coffee_cup_017.xml b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/coffee_cup_017.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fc78f4e172c6e8515344e440cb17501c6e659fea
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/coffee_cup_017.xml
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+<?xml version='1.0' encoding='utf-8'?>
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diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc93bb7798c56a751367637ec3c2e516031b8482
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017.obj
@@ -0,0 +1,105136 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl coffee_cup_017_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d512bba27545d6be7a5eaaa133ec916f745ff55
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision.obj
@@ -0,0 +1,36168 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_0.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..998f8cc01047289cb2bb4145a9d9f85d82a78e94
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_1.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae121ba27f9ee16063671c8f3c4efff0727bdfec
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_10.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed712b2e0af0ab99c88177dc7f4baf8596bc83a6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_11.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e68731890bb6cf3ec5d1fc70a61a34f4d0c544b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_11.obj
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diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_12.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e73904cd2888b519ab40e8fba46f20818c43ded7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_12.obj
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diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_13.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb4b8c4304e87ae3acee9827c2765088971657de
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_13.obj
@@ -0,0 +1,427 @@
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diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_14.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66f52d42da004930de72561512afa6bb6622df45
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_14.obj
@@ -0,0 +1,619 @@
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diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_15.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86c2f419e7c66f688a626cf69b5fc08a5ad96b4c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_15.obj
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diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_16.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb1bc55ef986c1d2d2896e00b9090c6a93d9a221
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_16.obj
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diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_17.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a501ad38ff27d7bfe57e911e587e06baefdf43e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_17.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_18.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f12e384f523c5c72b3397dc7d2b1d4e4b8cc4c6b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_18.obj
@@ -0,0 +1,25 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_19.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52db71330d23222f7a9e03f0849805a39d25f7bb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_19.obj
@@ -0,0 +1,619 @@
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diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_2.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbe48ef790e5b5bfcdc67d97c45b2f6bb5e1d0e0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_20.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cb2de720db461e8c1b80a1992a83e6566d600c7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_20.obj
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diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_21.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12d79a9a93913f1a8ec6b410d4f54a26f7526020
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_21.obj
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diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_22.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0516a57936acd5e0c63e005e5c8898fd267bb810
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_22.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_23.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4451d1982c864def615c61ef4953aac460779f4b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_23.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
+v 0.04441370 -0.02294675 -0.02055445
+v 0.04433778 -0.02294676 -0.02038612
+v 0.04425752 -0.02324939 -0.02055446
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+
diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_24.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4900682cb3ed951ab0a6d8cb1e0347849fdc766
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_24.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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+v 0.01847265 -0.01285033 -0.02055550
+v 0.01781628 -0.01377561 -0.02055550
+v 0.01687535 -0.01488989 -0.02055550
+v 0.01657417 -0.01523104 -0.02055551
+v 0.01615252 -0.01570473 -0.02055551
+v 0.01522613 -0.01656866 -0.02055551
+v 0.01504958 -0.01672819 -0.02055551
+v 0.01428520 -0.01740804 -0.02055551
+v 0.01376177 -0.01780564 -0.02055552
+v 0.01350837 -0.01799463 -0.02055552
+v 0.02141383 -0.00223775 -0.02055546
+f 1 2 5
+f 1 5 12
+f 1 12 8
+f 1 8 3
+f 1 3 9
+f 1 9 15
+f 1 15 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
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+f 5 7 13
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+f 12 17 18
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+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 26
+f 12 26 27
+f 12 27 28
+f 12 28 29
+f 12 29 14
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+f 12 33 34
+f 12 34 35
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+f 12 41 42
+f 12 42 43
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+f 12 45 46
+f 12 46 47
+f 12 47 17
+
diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_25.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ee6eae9c12f43a498e158828b72214bbd9ed9e6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_25.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.00543053 0.04350257 0.03158484
+v 0.00541550 0.04350257 0.03175145
+v 0.00447726 0.03973950 0.03340206
+v 0.00459501 0.03973951 0.03014214
+v 0.00459501 0.03973951 0.02983604
+v 0.00429437 0.03973952 0.02797747
+v 0.00503720 0.04350258 0.02994971
+v 0.00460002 0.04350257 0.03323159
+v 0.00391732 0.03973948 0.03683376
+v 0.00389853 0.03973952 0.02693776
+v 0.00327721 0.03973952 0.02615249
+v 0.00278993 0.03973953 0.02554028
+v 0.00408768 0.04350258 0.02875888
+v 0.00364800 0.04350256 0.03413956
+v 0.00296530 0.03973948 0.03725352
+v 0.00214231 0.03973953 0.02514507
+v 0.00292898 0.04350259 0.02833396
+v 0.00127421 0.03973953 0.02466331
+v 0.00287010 0.04350256 0.03444179
+v 0.00228887 0.03973948 0.03746663
+v 0.00115772 0.04350259 0.02803044
+v 0.00097232 0.03973953 0.02465685
+v -0.00060603 0.04350259 0.02796715
+v 0.00115772 0.04350256 0.03489513
+v 0.00115772 0.03973948 0.03775207
+v -0.00061229 0.03973953 0.02463102
+v -0.00061229 0.04350259 0.02796715
+v -0.00061229 0.04350256 0.03511340
+v -0.00061229 0.03973948 0.03782439
+v -0.00068369 0.03973953 0.02464135
+v -0.00238229 0.04350259 0.02807435
+v -0.00238229 0.04350256 0.03499974
+v -0.00238229 0.03973948 0.03753250
+v -0.00227081 0.03973953 0.02487383
+v -0.00414604 0.04350259 0.02835591
+v -0.00251508 0.04350256 0.03496616
+v -0.00413852 0.03973948 0.03682214
+v -0.00419489 0.04350256 0.03453478
+v -0.00425502 0.04350256 0.03451928
+v -0.00436525 0.04350256 0.03448441
+v -0.00286707 0.03973953 0.02504303
+v -0.00415230 0.04350259 0.02835721
+v -0.00532855 0.03973949 0.03624093
+v -0.00575821 0.04350257 0.03372626
+v -0.00415230 0.03973953 0.02547312
+v -0.00541373 0.04350258 0.02875630
+v -0.00584589 0.04350257 0.03365135
+v -0.00686430 0.04350257 0.03273691
+v -0.00694197 0.04350257 0.03266717
+v -0.00688810 0.03973950 0.03224740
+v -0.00569933 0.03973952 0.02643534
+v -0.00629936 0.04350258 0.02940209
+v -0.00715743 0.04350257 0.03158484
+v -0.00716244 0.03973950 0.03151121
+v -0.00575069 0.03973952 0.02647926
+v -0.00702464 0.04350258 0.03027648
+v -0.00584213 0.03973952 0.02658646
+v -0.00698706 0.03973952 0.02795681
+v -0.00736662 0.03973951 0.02984767
+v -0.00701713 0.03973952 0.02804076
+v -0.00704970 0.03973952 0.02816346
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 13
+f 1 13 17
+f 1 17 21
+f 1 21 23
+f 1 23 27
+f 1 27 31
+f 1 31 35
+f 1 35 42
+f 1 42 46
+f 1 46 52
+f 1 52 56
+f 1 56 53
+f 1 53 49
+f 1 49 48
+f 1 48 47
+f 1 47 44
+f 1 44 40
+f 1 40 39
+f 1 39 38
+f 1 38 36
+f 1 36 32
+f 1 32 28
+f 1 28 24
+f 1 24 19
+f 1 19 14
+f 1 14 8
+f 1 8 2
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+f 2 9 3
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+f 8 14 9
+f 9 14 15
+f 12 16 13
+f 13 16 18
+f 13 18 17
+f 14 19 15
+f 15 19 20
+f 17 18 21
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+f 19 24 20
+f 20 24 25
+f 22 26 23
+f 23 26 27
+f 24 28 25
+f 25 28 29
+f 26 30 31
+f 26 31 27
+f 28 32 29
+f 29 32 33
+f 30 34 31
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+f 33 40 37
+f 34 41 42
+f 34 42 35
+f 37 40 43
+f 40 44 43
+f 41 45 46
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+f 43 48 49
+f 43 49 50
+f 45 51 46
+f 46 51 52
+f 49 53 54
+f 49 54 50
+f 51 55 52
+f 52 55 57
+f 52 57 58
+f 52 58 56
+f 53 56 59
+f 53 59 54
+f 56 58 60
+f 56 60 61
+f 56 61 59
+
diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_26.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b69e27c03a081b953a4b6afeb65b205677d7df8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_26.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.01769165 -0.03924426 -0.02055451
+v -0.01769165 -0.04634244 -0.02055454
+v -0.01769165 -0.03946178 -0.02042714
+v 0.00029129 -0.04400204 -0.01998511
+v 0.00029129 -0.04311860 -0.02055453
+v -0.01509348 -0.04733155 -0.02055454
+v -0.01769165 -0.04599873 -0.01989546
+v -0.01769165 -0.04033701 -0.01991692
+v 0.00029129 -0.04495421 -0.01944654
+v 0.00029129 -0.04972429 -0.02055455
+v -0.01486465 -0.04741158 -0.02055454
+v -0.01477487 -0.04738901 -0.02044453
+v -0.01654571 -0.04620496 -0.01974099
+v -0.01769165 -0.04502911 -0.01936113
+v -0.01372927 -0.04755831 -0.02010362
+v -0.01769165 -0.04138357 -0.01939120
+v 0.00029129 -0.04521175 -0.01936487
+v 0.00029129 -0.04966375 -0.02042318
+v 0.00004309 -0.04972531 -0.02055455
+v -0.01477487 -0.04744133 -0.02055454
+v -0.01654571 -0.04529588 -0.01927884
+v -0.01254989 -0.04772453 -0.01992581
+v -0.01477487 -0.04650456 -0.01955930
+v -0.01769165 -0.04431806 -0.01927883
+v -0.01732375 -0.04500449 -0.01927884
+v -0.01411829 -0.04764859 -0.02055455
+v -0.01329625 -0.04788459 -0.02055455
+v -0.01123497 -0.04835451 -0.02055455
+v -0.01769165 -0.04192225 -0.01927882
+v 0.00029129 -0.04548365 -0.01927884
+v 0.00029129 -0.04958372 -0.02025198
+v -0.00061349 -0.04972634 -0.02055455
+v -0.01188627 -0.04677544 -0.01927884
+v -0.00779892 -0.04911481 -0.02055455
+v -0.00769506 -0.04912200 -0.02052658
+v -0.01123497 -0.04788665 -0.01979195
+v -0.01308501 -0.04687086 -0.01950273
+v 0.00029129 -0.04819549 -0.01927885
+v 0.00029129 -0.04944726 -0.01996103
+v -0.00061349 -0.04944829 -0.01996028
+v -0.00238256 -0.04941956 -0.01998800
+v -0.00238256 -0.04967401 -0.02055455
+v -0.01123497 -0.04694576 -0.01927884
+v -0.00772323 -0.04913020 -0.02055455
+v -0.00769506 -0.04913534 -0.02055455
+v -0.00592423 -0.04925437 -0.02024337
+v -0.00946414 -0.04807647 -0.01965334
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+v -0.00061349 -0.04849201 -0.01935577
+v -0.00238256 -0.04849201 -0.01939011
+v -0.00343345 -0.04939185 -0.02001485
+v -0.00389112 -0.04958988 -0.02055455
+v -0.00769506 -0.04823756 -0.01955806
+v -0.00946414 -0.04729667 -0.01927884
+v -0.00639950 -0.04932515 -0.02055455
+v -0.00592423 -0.04939184 -0.02055455
+v -0.00519900 -0.04947085 -0.02055455
+v -0.00461283 -0.04933337 -0.02009901
+v -0.00238256 -0.04810827 -0.01927885
+v -0.00592423 -0.04778815 -0.01927885
+v -0.00592423 -0.04836992 -0.01949425
+v -0.00407595 -0.04864284 -0.01956018
+v -0.00424845 -0.04956114 -0.02055455
+v -0.00769506 -0.04757370 -0.01927884
+f 1 2 7
+f 1 7 14
+f 1 14 24
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+f 1 29 16
+f 1 16 8
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+f 1 3 4
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+f 43 55 56
+f 45 57 46
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+f 46 60 47
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+f 49 51 50
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+f 52 63 64
+f 52 64 53
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+f 53 55 60
+f 53 60 65
+f 53 65 54
+f 55 63 56
+f 56 63 66
+f 59 65 60
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+
diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_27.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a47c7494d5bf11efe9d30f78111b06b5c31a4a4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_27.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.02090881 0.00120233 -0.03136542
+v 0.00019412 0.00120232 -0.03119003
+v -0.02090881 0.00120229 -0.02055437
+v -0.02090881 0.00812487 -0.03147192
+v -0.02008667 0.01166322 -0.03152033
+v 0.00019412 0.00120229 -0.02055437
+v 0.00019412 0.02227579 -0.03147617
+v -0.02090881 0.00629225 -0.02055435
+v -0.02090881 0.00989280 -0.03149666
+v -0.02090881 0.02581414 -0.03154395
+v -0.02008667 0.02660486 -0.03154610
+v 0.00019412 0.02404372 -0.03148154
+v 0.00019412 0.02323808 -0.03147939
+v 0.00019412 0.02185552 -0.02055429
+v -0.02079107 0.00667766 -0.02055435
+v -0.02090881 0.02660483 -0.02371785
+v -0.02090881 0.02660486 -0.03152350
+v 0.00019412 0.02660486 -0.03133734
+v 0.00019412 0.02660483 -0.02354568
+v -0.00061356 0.02660483 -0.02354784
+v -0.00061356 0.02184558 -0.02055429
+v -0.02024986 0.00814970 -0.02055434
+v -0.01252837 0.01781986 -0.02055430
+v -0.01230734 0.01798397 -0.02055430
+v -0.01207186 0.01813068 -0.02055430
+v -0.01130136 0.01860561 -0.02055430
+v -0.00980994 0.01944357 -0.02055430
+v -0.00901053 0.01982153 -0.02055430
+v -0.00778145 0.02032878 -0.02055430
+v -0.00624459 0.02083604 -0.02055429
+v -0.00592441 0.02094048 -0.02055429
+v -0.00462510 0.02127864 -0.02055429
+v -0.00401366 0.02140546 -0.02055429
+v -0.00366869 0.02147508 -0.02055429
+v -0.00224751 0.02170384 -0.02055429
+v -0.00096679 0.02181574 -0.02055429
+v -0.00238384 0.02660483 -0.02356182
+v -0.02010320 0.00847792 -0.02055434
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+v -0.01937195 0.01005439 -0.02055433
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+v -0.01864483 0.01131506 -0.02055433
+v -0.01840108 0.01170297 -0.02055433
+v -0.01764711 0.01283434 -0.02055432
+v -0.01702328 0.01362506 -0.02055432
+v -0.01606480 0.01473655 -0.02055432
+v -0.01518483 0.01562673 -0.02055431
+v -0.01428626 0.01644978 -0.02055431
+v -0.01312328 0.01737726 -0.02055431
+f 1 2 6
+f 1 6 3
+f 1 3 8
+f 1 8 16
+f 1 16 17
+f 1 17 10
+f 1 10 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 13
+f 2 13 12
+f 2 12 18
+f 2 18 19
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+f 2 14 6
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+f 3 14 21
+f 3 21 36
+f 3 36 35
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+f 3 34 33
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+f 3 15 8
+f 4 9 5
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+f 5 12 13
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+f 8 15 16
+f 10 17 11
+f 11 17 16
+f 11 16 37
+f 11 37 20
+f 11 20 19
+f 11 19 18
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+f 14 19 20
+f 14 20 21
+f 15 22 16
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+f 16 29 30
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+f 16 48 49
+f 16 49 23
+f 20 37 21
+
diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_28.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80083e582f683c2db68045beb7db8e97371e6b85
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_28.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.04926731 -0.00249297 -0.02055438
+v -0.04923686 -0.00295987 -0.02055438
+v -0.04914661 -0.00249527 -0.02029080
+v -0.04914661 -0.00249298 -0.02029080
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diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_29.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b201d175fbf3dfe37216baa74d278355e7b8d70
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_29.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_3.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e48d24ee2fe513b0d2ea804e68fef5f163b01bcb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_3.obj
@@ -0,0 +1,1342 @@
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diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_30.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b08731124f6b90d41133db9e88dc47f6333b5620
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_30.obj
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diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_31.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11b42c1d2f1eb1787a3af6834d670e007a466d06
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_31.obj
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diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_32.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ffdd9fbe9865571c051e99db01108510f55eb92
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_32.obj
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diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_33.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58572b60e73abd9a9cd01ed5e5a1d6d9797a2d6d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_33.obj
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diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_34.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e331a8d34d682752ff69606df7a66c4b9ad0431
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_34.obj
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diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_35.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..169e5be794397dacab0b98ef01232f27c2eee2f4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_35.obj
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diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_36.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ab70866e54ef0a9dd26f94450b26524772f72fb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_36.obj
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diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_37.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98d872e62aa5e1c6d4ac4803602d34359a264f60
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_37.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_38.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6908823cc4ff3a2d0d8b2403bebca18a1801519
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_38.obj
@@ -0,0 +1,1606 @@
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diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_39.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0653ee0f5f80b4b26fd39353810291637799d267
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_39.obj
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diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_4.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd4565a276cfac047c2a712f57703534832b293f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_4.obj
@@ -0,0 +1,22 @@
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+
diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_40.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cef3054cf4a6c70a921734180d0934d911976311
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_40.obj
@@ -0,0 +1,1258 @@
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diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_41.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a53294ac24a6240454d61096108086d2f0b8b58f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_41.obj
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diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_42.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c72f2124243104fab6bb78dfbf8439124ff4781b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_42.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_43.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6554fe43c2eaa374ff6ef818a5ad0057e7a1ab26
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_43.obj
@@ -0,0 +1,520 @@
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diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_44.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84e3e2f7367c82c4c84262966b7b610125dc4250
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_44.obj
@@ -0,0 +1,484 @@
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diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_45.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97a2c4d0a10ee36ab82d33c7febd7e2572883bc3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_45.obj
@@ -0,0 +1,133 @@
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diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_46.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a77efa990e0ba57c1173637fd2b755752a2ec2a4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_46.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_47.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ea526681f9ccdf78e4dc6080a10e80b34448ec8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_47.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_48.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..006e74a393f9efdba6e506805d37659b17bab489
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_48.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_49.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63281ff119072d63aaf3f5b9be5f5d8b3e5a9ba0
--- /dev/null
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diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_5.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47b4e9b7f069d4e8f2256e94cce2cfc3cbd7a96d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_5.obj
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diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_50.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47663406b46937ef2992d47b9eed1ca1e9b39cfa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_50.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01653620 0.04161637 -0.01957745
+v -0.01653620 0.04161637 -0.01857745
+v -0.01653620 0.04777865 -0.01957745
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+v 0.00019025 0.04777865 -0.01857745
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+
diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_51.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15aaf68ec07a40eba7045b3d1d1bd6d7ac70f4ac
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_51.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_52.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcfcc13cbac1a7e951939006828be728559997fc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_52.obj
@@ -0,0 +1,406 @@
+# https://github.com/mikedh/trimesh
+v 0.01559767 0.01756635 0.02218104
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diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_53.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77de7fba0a3dc81c7f6cb5fe66466a1d1df2be02
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_53.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.00540418 0.02930340 0.00243637
+v -0.01161582 0.02930338 0.00915810
+v -0.01155610 0.02932453 0.00915810
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+
diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_54.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d308a32cdcfc90a885a107a7ce1c30e369aa6e7a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_54.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.02325258 0.02254175 -0.01958142
+v 0.02325258 0.02254175 -0.01858142
+v 0.02325258 0.03908756 -0.01958142
+v 0.02325258 0.03908756 -0.01858142
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+v 0.04253177 0.02254175 -0.01858142
+v 0.04253177 0.03908756 -0.01958142
+v 0.04253177 0.03908756 -0.01858142
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+f 2 8 4
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+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_55.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f884d6c678adbeb37c0abc48116f4e2081fe53f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_55.obj
@@ -0,0 +1,514 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_56.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3843b17eecfacfb5f0e1ddf02151dbd68f605461
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_56.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.02141383 0.00605426 -0.02055435
+v 0.02166499 0.00514080 -0.02055435
+v 0.02893753 0.02276931 -0.02345353
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+v 0.02141383 -0.00666389 -0.02055439
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+v 0.02893753 0.02276934 -0.03134868
+v 0.02213269 0.00281376 -0.02055436
+v 0.02216804 0.00245829 -0.02055436
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+v 0.02893753 -0.00248925 -0.02359945
+v 0.02141383 0.02276934 -0.03138108
+v 0.02141383 -0.01945643 -0.02362111
+v 0.02893753 -0.01945643 -0.02370321
+v 0.02144329 -0.00657709 -0.02055439
+v 0.02771636 0.02276934 -0.03148694
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+v 0.02223875 -0.00248926 -0.02055438
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+v 0.02893753 0.01928498 -0.03158417
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+v 0.02771636 0.02050430 -0.03158848
+v 0.02240520 -0.00956956 -0.03151407
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+
diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_57.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9213f393864837ffe733fe97a160a8ebd60b16fe
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_57.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.02090881 0.00628625 -0.02055543
+v -0.02090881 0.02337995 -0.02375060
+v -0.02839614 0.02337995 -0.02337145
+v -0.02097331 0.00608056 -0.02055543
+v -0.02090881 -0.00664316 -0.02055547
+v -0.02090881 0.02337998 -0.03141141
+v -0.02168870 0.00281462 -0.02055544
+v -0.02162713 0.00316724 -0.02055544
+v -0.02138085 0.00453575 -0.02055543
+v -0.02106714 0.00576572 -0.02055543
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+v -0.02839614 -0.01950540 -0.02366759
+v -0.02187854 -0.00073257 -0.02055545
+v -0.02187487 -0.00041353 -0.02055545
+v -0.02185288 0.00103473 -0.02055545
+v -0.02110452 -0.00603027 -0.02055547
+v -0.02090881 -0.01950540 -0.02360602
+v -0.02119247 0.02337998 -0.03142653
+v -0.02090881 0.01165956 -0.03149140
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+v -0.02716988 0.02050445 -0.03158966
+v -0.02839614 0.01873715 -0.03156374
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+f 33 37 34
+f 33 39 38
+f 34 37 35
+
diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_58.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ef84b9b0b1ee07618f5c36d71de85f9cda2af13
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_58.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.02470413 -0.04820411 -0.01957685
+v -0.02470413 -0.04820411 -0.01857685
+v -0.02470413 -0.03818104 -0.01957685
+v -0.02470413 -0.03818104 -0.01857685
+v 0.00019025 -0.04820411 -0.01957685
+v 0.00019025 -0.04820411 -0.01857685
+v 0.00019025 -0.03818104 -0.01957685
+v 0.00019025 -0.03818104 -0.01857685
+f 2 4 1
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+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
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+
diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_59.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3991ca04e8fd32aa3e92c35b52c60d139d2ae01b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_59.obj
@@ -0,0 +1,451 @@
+# https://github.com/mikedh/trimesh
+v -0.02090881 0.04456321 -0.02055529
+v -0.02090881 0.04479917 -0.02102688
+v -0.02148640 0.04464327 -0.02124919
+v -0.02165645 0.04420717 -0.02055529
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+v -0.02235131 0.04419032 -0.02265425
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diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_6.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9d6cd89945ba00975a20e9be25a6e67e35dc8f2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_6.obj
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diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_60.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..444266236596d26c0756aa00d1227940a1a69086
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_60.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_61.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b794051bb0ca6d40d11a4e7d3b07129436239ef
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_61.obj
@@ -0,0 +1,223 @@
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+
diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_62.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b2dda2e7c110f30e026ec50810f88bd649a11c0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_62.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.03686590 -0.02294675 -0.02055429
+v 0.04441241 -0.02294675 -0.02055429
+v 0.03700878 -0.02294675 -0.02047444
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+v 0.04719207 -0.00534052 -0.01894272
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+
diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_63.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e506c59a7968c1e21f99e5230972cb994d421d29
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_63.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.04228576 -0.01598059 -0.01927876
+v -0.04530376 -0.01946516 -0.02055444
+v -0.04460100 -0.01946517 -0.01968261
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+v -0.03815704 -0.01946516 -0.02055444
+v -0.04411264 -0.02226849 -0.02055445
+v -0.04383868 -0.02254970 -0.02026785
+v -0.04413051 -0.02136981 -0.01991548
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+
diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_64.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e70121bccdbfa3af0fd4f4e0c99961e837c90fa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_64.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.03944957 -0.00534052 -0.01958682
+v 0.03944957 -0.00534052 -0.01858681
+v 0.03944957 0.02254175 -0.01958682
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+v 0.04823264 0.02254175 -0.01958682
+v 0.04823264 0.02254175 -0.01858681
+f 2 4 1
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+f 4 8 3
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+f 7 6 5
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+
diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_65.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65aedfc1fc885e759215a9cf63d8441c0ec52267
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_65.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.04236603 0.00872247 -0.02055434
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+
diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_66.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fd74878c3fbd7752820614b27585b35d2c2a364
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_66.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_67.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ad333b7717d45b8278ab2f8ce3e45f8dddf2fe8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_67.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.01960748 -0.04418263 -0.01958112
+v 0.01960748 -0.04418263 -0.01858112
+v 0.01960748 -0.03229110 -0.01958112
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+f 4 8 3
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+
diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_68.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d229df774bc8aaa684bc1de9c64b28cdf508c1c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_68.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.03217884 -0.03611105 -0.01958309
+v 0.03217884 -0.03611105 -0.01858308
+v 0.03217884 -0.01879735 -0.01958309
+v 0.03217884 -0.01879735 -0.01858308
+v 0.04460822 -0.03611105 -0.01958309
+v 0.04460822 -0.03611105 -0.01858308
+v 0.04460822 -0.01879735 -0.01958309
+v 0.04460822 -0.01879735 -0.01858308
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+
diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_69.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0147003f270c8c52b98e2b270939fd526f813b7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_69.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_7.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02c94d8113f702945cb922c57fe23e9ba5a10e73
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_7.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
+v -0.03408495 -0.02984242 -0.01927874
+v -0.03009074 -0.03078890 -0.02055432
+v -0.03734064 -0.02984242 -0.01927874
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diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_8.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89ff6c67c2c6f1b090c32bf82348b0f4e6802916
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_8.obj
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diff --git a/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_9.obj b/dataset/kitchen_supplies/ware/6a8b911b21ee5ee8884ca3ca93289f65/mjcf/mesh/coffee_cup_017_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51751362274e13a2657f9c5c380f929265a676cc
--- /dev/null
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