diff --git a/.gitattributes b/.gitattributes
index 450a5aba1a939d8408c11e067f4806a4332ff44d..c1f7f1523543ce59bdc741861547c9e8e1e69982 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4679,5 +4679,7 @@ 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/3d6e4a50c54951389fac8f92c39b45c6/coffee_cup_013.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mesh/coffee_cup_013.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/mesh/wine_glass_036.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/wine_glass_036.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/coffee_cup_018.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mesh/coffee_cup_018.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/coffee_cup_018.urdf b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/coffee_cup_018.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8023b0a95497c7be4ef1ab40c277e8a7eaf00f26
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/coffee_cup_018.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="coffee_cup_018">
+   <link name="coffee_cup_018">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/coffee_cup_018.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/coffee_cup_018_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>3b7f8c823a045dd1a4f0253b0dbd40bb</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>coffee_cup</category>
+         <name>white coffee cup</name>
+         <color>white,brown</color>
+         <shape>cylinder</shape>
+         <material>ceramic</material>
+         <description>white ceramic coffee cup with pedestal base and floral print</description>
+         <min_height>0.0788</min_height>
+         <max_height>0.0788</max_height>
+         <real_height>0.0788</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518191651</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.038156 -0.038187 -0.044576</min>
+            <max>0.037290 0.062137 0.034204</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/3b7f8c823a045dd1a4f0253b0dbd40bb/coffee_cup_018.usd b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/coffee_cup_018.usd
new file mode 100644
index 0000000000000000000000000000000000000000..9c15d05b41fef8496ece2bccbe8f6cf92d430f1b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/coffee_cup_018.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:426890a1fcad5ca65d06f20e744355867abece2ad9adc1bc903813f94bd11042
+size 4908399
diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mesh/coffee_cup_018.glb b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mesh/coffee_cup_018.glb
new file mode 100644
index 0000000000000000000000000000000000000000..722ca9ef8376ed64a645643c5409e66fb7462882
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mesh/coffee_cup_018.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:453f7aa7be7987bc81ff030101048a32de295d97cba78aad37dc92c536adfbf2
+size 11771340
diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mesh/coffee_cup_018.mtl b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mesh/coffee_cup_018.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..908ffe451414d5020ffda9522242526b2a7a07c2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mesh/coffee_cup_018.mtl
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+newmtl coffee_cup_018_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mesh/coffee_cup_018.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mesh/coffee_cup_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c46a770df76cc233ab69d168138a3e2cafc81562
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mesh/coffee_cup_018.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mesh/coffee_cup_018_collision.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mesh/coffee_cup_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60e109f85443f494c26bfa77267f40fefe296324
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mesh/coffee_cup_018_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mesh/coffee_cup_018_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mesh/coffee_cup_018_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b26f88d30f195534295a58939a9a0054d8a14c07
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mesh/coffee_cup_018_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 8422422
diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mesh/material.mtl b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..60c2854cbb012d20ff3e97722d8f236ddc4da3da
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl coffee_cup_018_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mesh/material_0.png b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mesh/material_0.png
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/coffee_cup_018.xml b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/coffee_cup_018.xml
new file mode 100644
index 0000000000000000000000000000000000000000..36b5c913a39f2f8b3ca418e029635e545d61b09d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/coffee_cup_018.xml
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+    <mesh name="collision_mesh_0_20" file="mesh/coffee_cup_018_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/coffee_cup_018_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/coffee_cup_018_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/coffee_cup_018_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/coffee_cup_018_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/coffee_cup_018_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/coffee_cup_018_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/coffee_cup_018_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/coffee_cup_018_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/coffee_cup_018_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/coffee_cup_018_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/coffee_cup_018_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/coffee_cup_018_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/coffee_cup_018_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/coffee_cup_018_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/coffee_cup_018_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/coffee_cup_018_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/coffee_cup_018_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/coffee_cup_018_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/coffee_cup_018_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/coffee_cup_018_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/coffee_cup_018_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/coffee_cup_018_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/coffee_cup_018_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/coffee_cup_018_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/coffee_cup_018_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/coffee_cup_018_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/coffee_cup_018_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/coffee_cup_018_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/coffee_cup_018_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/coffee_cup_018_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="coffee_cup_018">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_49" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_50" 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/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be99a53f51819506fe9a600d43178f0427233762
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018.obj
@@ -0,0 +1,104388 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl coffee_cup_018_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e629e4d410e4a91887d3971bb5161308991c022
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision.obj
@@ -0,0 +1,21794 @@
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diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_0.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7f433577fa0c9dbd64a3b88180ddcc97f6cc461
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_1.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7eac2b44993893e1a0d45ff3499c88ddaa7275dc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_10.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93c342ef17914fc18eb66f2dde78f963ad0d483c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_11.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92c2b96519c4804f109876edd331d8abd8bfbdea
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_11.obj
@@ -0,0 +1,298 @@
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diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_12.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ecab1b66b75137db7cd197346421514a546528e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_12.obj
@@ -0,0 +1,280 @@
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diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_13.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b617e9036b2691ecbdf17ec2dee36cdb5b650612
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_13.obj
@@ -0,0 +1,517 @@
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diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_14.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77c234124a93136f2a4be7901fb75f0c9b05567e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_14.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_15.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..725af30fb1493c797ec3f78cae80b955d52c4e16
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_15.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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+v -0.02427685 0.00844746 -0.04436645
+v -0.02263165 0.00844746 -0.04422055
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+v -0.02733844 0.00439927 -0.03746272
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+
diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_16.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..850298ffce53780215a7aa809b81a00d08eebcca
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_16.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00972533 -0.00717239 -0.03307715
+v -0.00972533 -0.00717239 -0.03207715
+v -0.00972533 0.02202621 -0.03307715
+v -0.00972533 0.02202621 -0.03207715
+v -0.00002997 -0.00717239 -0.03307715
+v -0.00002997 -0.00717239 -0.03207715
+v -0.00002997 0.02202621 -0.03307715
+v -0.00002997 0.02202621 -0.03207715
+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
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_17.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a728a0b390e097330cf3789d25ee2edf350729f7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_17.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v 0.00854159 -0.01325741 -0.03228261
+v 0.00854159 -0.01325740 -0.03507641
+v -0.00002913 -0.01325741 -0.03228261
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+
diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_18.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a66d7d8bd2b211f24378d6a957c4edc7f93d7953
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_18.obj
@@ -0,0 +1,511 @@
+# https://github.com/mikedh/trimesh
+v 0.02548832 -0.01325883 -0.04049504
+v 0.02527101 -0.01325883 -0.04214091
+v 0.02526437 -0.01325883 -0.03962554
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+v 0.02383777 -0.01548537 -0.03877299
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diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_19.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e732cfbb2d0cb96a9e5b801413d03017ab8b1123
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_19.obj
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diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_2.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53e90c902da7994f05cc627218bc1c8b728680b4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_20.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f9bf06f4cdf35d02c2fd4d8751ad5d5cd9afe4c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_20.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_21.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2af9e3921f9e47fa43a9225fd2635dc833c7daa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_21.obj
@@ -0,0 +1,280 @@
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diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_22.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..716b60a25e38958bfdf3c3d53b43ed94046415a7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_22.obj
@@ -0,0 +1,235 @@
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diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_23.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15dca7c22c49a87b254fb4df7f47b537b01b6cdf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_23.obj
@@ -0,0 +1,940 @@
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diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_24.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd0acf12bd15127bc64e4a20635ff4899196bedd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_24.obj
@@ -0,0 +1,634 @@
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diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_25.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5017743c51932d8a1eb598bc65add5f228ac63cd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_25.obj
@@ -0,0 +1,829 @@
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diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_26.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4eeaf58067d305a909ed6cbd7b3e7bff494a823
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_26.obj
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diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_27.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77b4665796dc3ca96eeae02f18ca1224bffa3b08
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_27.obj
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diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_28.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4c269f658ec05fd502dee8fd9dbd79faf113440
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_28.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.02317632 -0.01045337 -0.03303412
+v -0.02317632 -0.01045337 -0.03203412
+v -0.02317632 -0.00085772 -0.03303412
+v -0.02317632 -0.00085772 -0.03203412
+v -0.00785853 -0.01045337 -0.03303412
+v -0.00785853 -0.01045337 -0.03203412
+v -0.00785853 -0.00085772 -0.03303412
+v -0.00785853 -0.00085772 -0.03203412
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+
diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_29.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cdcab981b652f575d3ad547bb12c64180e0e5b1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_29.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_3.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb10735b39bfae4d8f0c55feb43869df7e395327
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_3.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_30.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e096466c695fb0828d63d12fb12cfbecdba97466
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_30.obj
@@ -0,0 +1,127 @@
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diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_31.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ffe4ea8b18f04c0200e7e2bc259183265a9a1a8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_31.obj
@@ -0,0 +1,472 @@
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diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_32.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c39ff0150011bc89c944881bc0064e98a3ba900c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_32.obj
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diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_33.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7256eeff6fe79b5c21b2ecfdbba31fd4cd5f5676
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_33.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_34.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae9e5225646b42d17cae1b92c5a239f982446e00
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_34.obj
@@ -0,0 +1,544 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_35.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d24358df13037b70d8fc07823135aa520d622a6a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_35.obj
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diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_36.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6668363dfab926309f81e20f8f4701ada19d7b0d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_36.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_37.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae3f56a0fea381a3ef45e33547bb59629e5c0607
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_37.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_38.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2500c7feed525aa2c593c56d690a2d8060e63872
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_38.obj
@@ -0,0 +1,412 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_39.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4dcd0474d7ba3fa21cfdad97e7283f98d482c983
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_39.obj
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diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_4.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..565325b51e7a2cfb1aa7a085cc64683c3a355077
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_4.obj
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diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_40.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8215e439e78a00c57f1a09266ae3530c5a05107
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_40.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_41.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..416197dbb2ae9d2848cc40dca2b9bc6fc065fe48
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_41.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_42.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..035c597a64d424dc50079688b08df1a8cb73b7fa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_42.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v 0.02195582 -0.00054598 0.02936192
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diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_43.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f21163ecaae789ca3057d097316bc6fe19192e97
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_43.obj
@@ -0,0 +1,286 @@
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diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_44.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e730248349aedbe98a83e549254066a400d8cc1d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_44.obj
@@ -0,0 +1,394 @@
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diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_45.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4183867cda46a949fdb05ddf683d0a87637bd05d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_45.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_46.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be43979ddd5bd3ea9bbedb7bc572f1dbefa4492b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_46.obj
@@ -0,0 +1,607 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_47.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aadfda0104d0c2d39f6d2dda7c617bce2ac917c7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_47.obj
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diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_48.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8f30af9e2eae6cc9edbc13d45e70132985b9eb2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_48.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_49.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58f6b08bc1a90e5140e621c218413b1cfe5e74e7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_49.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_5.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45262b16c3c78a3d8aba05b3ef788f4ca55ecfe3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_5.obj
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diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_50.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..794c848a7e7d746d2e15a6d3c1a576832dfbcefa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_50.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_6.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62aeac1265b6b44776afd891b299b33840334199
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_6.obj
@@ -0,0 +1,502 @@
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diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_7.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f12ae8940f64050d8f8c8c038060fa05126cd40f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_7.obj
@@ -0,0 +1,478 @@
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diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_8.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7501c3871469f3a911180f4ea831a46206f2991
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_8.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_9.obj b/dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/mjcf/mesh/coffee_cup_018_collision_9.obj
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