diff --git a/.gitattributes b/.gitattributes
index 36325c7aa82e86b8b979e9e508d1cbb5bd7554a1..4ed8f0f989a9fcf23e28935dd6572d033f4675fc 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4713,9 +4713,5 @@ dataset/kitchen_supplies/ware/5c4fb0d872af550aad3f70c4c68c7932/mug_019.usd filte
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 dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mesh/red_cup.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/mesh/red_cup_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/5ce46fe01bd655359d018bf28776016f/mesh/mug_004.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/5ce46fe01bd655359d018bf28776016f/mug_004.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/5e3f3b45299d5204aeea794409cf6091/coffee_cup_011.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/5e3f3b45299d5204aeea794409cf6091/mesh/coffee_cup_011.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/baby_bottle_015.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/mesh/baby_bottle_015.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/coffee_cup_016.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mesh/coffee_cup_016.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/coffee_cup_016.urdf b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/coffee_cup_016.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a5f9e8097266c2bfb2b74257e6459869428e5d45
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/coffee_cup_016.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="coffee_cup_016">
+   <link name="coffee_cup_016">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/coffee_cup_016.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_016_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>5d2e5c59453d5e919e65f379ec2d9d42</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>tapered white ceramic coffee cup with side handle and printed logo</description>
+         <min_height>0.0701</min_height>
+         <max_height>0.0701</max_height>
+         <real_height>0.0701</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518191548</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.038945 -0.040700 -0.037477</min>
+            <max>0.038893 0.058604 0.032645</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/5d2e5c59453d5e919e65f379ec2d9d42/coffee_cup_016.usd b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/coffee_cup_016.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/coffee_cup_016.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:000634e60440e5ddd3727c9c2b42145cce1a32ecae0e4bd08a2993b1891c9f41
+size 4818752
diff --git a/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mesh/coffee_cup_016.glb b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mesh/coffee_cup_016.glb
new file mode 100644
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+++ b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mesh/coffee_cup_016.glb
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+version https://git-lfs.github.com/spec/v1
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+size 11459132
diff --git a/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mesh/coffee_cup_016.mtl b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mesh/coffee_cup_016.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d8bb46607cc5e0fcb8937e48d549928b67e83a10
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mesh/coffee_cup_016.mtl
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+newmtl coffee_cup_016_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/5d2e5c59453d5e919e65f379ec2d9d42/mesh/coffee_cup_016.obj b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mesh/coffee_cup_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10be8df7b162ab194644379f9c97c90e0737540c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mesh/coffee_cup_016.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mesh/coffee_cup_016_collision.obj b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mesh/coffee_cup_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b462c2ced7268aaa9fb9b8b150ee7aa3589745b6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mesh/coffee_cup_016_collision.obj
@@ -0,0 +1,25410 @@
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diff --git a/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mesh/coffee_cup_016_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mesh/coffee_cup_016_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..372c2d2b052867385cc1433f9c9cd13e43f8d974
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mesh/coffee_cup_016_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98c8ff28252d2f8dda946e3c03d3b3057f3aa18d890b6d9b5233dafe9cb9851d
+size 8249934
diff --git a/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mesh/material.mtl b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b7008ec4bed37401e8d8d974301981f6a9059fe1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl coffee_cup_016_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd coffee_cup_016_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mesh/material_0.png b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..372c2d2b052867385cc1433f9c9cd13e43f8d974
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98c8ff28252d2f8dda946e3c03d3b3057f3aa18d890b6d9b5233dafe9cb9851d
+size 8249934
diff --git a/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/coffee_cup_016.xml b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/coffee_cup_016.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2b0998722980d00dacc4079d3419922ed33308d6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/coffee_cup_016.xml
@@ -0,0 +1,64 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="coffee_cup_016">
+  <asset>
+    <material name="material_0" texture="texture_0_coffee_cup_016_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_coffee_cup_016_geometry_Looks_material_0" type="2d" file="mesh/coffee_cup_016_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/coffee_cup_016.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/coffee_cup_016_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/coffee_cup_016_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/coffee_cup_016_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/coffee_cup_016_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/coffee_cup_016_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/coffee_cup_016_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/coffee_cup_016_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/coffee_cup_016_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/coffee_cup_016_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/coffee_cup_016_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/coffee_cup_016_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/coffee_cup_016_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/coffee_cup_016_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/coffee_cup_016_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/coffee_cup_016_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/coffee_cup_016_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/coffee_cup_016_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/coffee_cup_016_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/coffee_cup_016_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/coffee_cup_016_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/coffee_cup_016_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/coffee_cup_016_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/coffee_cup_016_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/coffee_cup_016_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/coffee_cup_016_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="coffee_cup_016">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" 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/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016.obj b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..996c6da54108e7e245380f816fdd3814c91914d3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016.obj
@@ -0,0 +1,106614 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl coffee_cup_016_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision.obj b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6957fcd95819f591b0e4b987cb05e47470215929
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision.obj
@@ -0,0 +1,25410 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_0.obj b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ec0e5d00a835bf0334cfccd04fed14bde3c96e1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_1.obj b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbadde5980b625de038c78fb7b7ed6529f7eb816
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_10.obj b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82bfa52d7c08b81dedf08b6da115aabf804d03cf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_11.obj b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4256443ee8ce200faa15b435f63ce1fab823e96
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_11.obj
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diff --git a/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_12.obj b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb09320a1eeef437f06e63f444ad8301fd1664c5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_12.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_13.obj b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c93813a3335ce5be4872300fa1bb70f1cc5dbbd0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_13.obj
@@ -0,0 +1,685 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_14.obj b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fab4b25201055fd1b41ef321224bcd964514b7f4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_14.obj
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diff --git a/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_15.obj b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49a9ff5a5b3c12d8b10e610da40d09adb440ae27
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_15.obj
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diff --git a/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_16.obj b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae29e32b1899a4694b1a2dd90ca0f5efe4e43dd7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_16.obj
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diff --git a/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_17.obj b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5534f91653b44a88a41af4a1268ee4ae800af860
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_17.obj
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diff --git a/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_18.obj b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..197f72575e83b3873ad83c62c7aed2944a0d5f32
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_18.obj
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diff --git a/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_19.obj b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..662a5fa5334b3d61092a7b213aac8d19c67c0ce8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_19.obj
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diff --git a/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_2.obj b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fc51ee1549b8792041bfec4c55ffe3ea8a6e9d0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_2.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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+v 0.00712502 0.03746198 -0.00968691
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diff --git a/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_20.obj b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0b60eaedcbf5b8b21d99401d599404fad3ba483
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_20.obj
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diff --git a/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_21.obj b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aac40c109692a802287c3862cdecd2eb87bab964
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_21.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_22.obj b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..590897c17971d2747f4e5cf5b1c46675685a25b1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_22.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_23.obj b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30b0ee32cfd07660788695dcce7e7476963ffc23
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_23.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_24.obj b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e0b6dbe2710c9dd647aab77e0e680c9ad91799c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_24.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_3.obj b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8329ffe45e807b9e86d20e0fd0160fdef95a609
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_3.obj
@@ -0,0 +1,610 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_4.obj b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86d216c44681d6b9a33712b5a5081773eb8c6033
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_4.obj
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diff --git a/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_5.obj b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0c069abeddfed54c7a9fbe8645722b3c44c42ff
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_5.obj
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diff --git a/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_6.obj b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f7918f6a4e49ad4e996d0a0ace63b945e10264a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_6.obj
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diff --git a/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_7.obj b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b6e780dc30b4201610bd7e94124895f3a3d811d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_7.obj
@@ -0,0 +1,112 @@
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diff --git a/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_8.obj b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46c5e03acfdbdec913c439d491c5cfec9bcb49c1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_8.obj
@@ -0,0 +1,448 @@
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diff --git a/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_9.obj b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..beb0f841857530fb488dd3c868d1bac0d84daa5b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/5d2e5c59453d5e919e65f379ec2d9d42/mjcf/mesh/coffee_cup_016_collision_9.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
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