diff --git a/.gitattributes b/.gitattributes
index 5a76d5f696efee04e64525e43bed1f45dfea972a..450a5aba1a939d8408c11e067f4806a4332ff44d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4679,5 +4679,5 @@ dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mesh/ceramic_teap
 dataset/kitchen_supplies/ware/3adc23d9b3eb56129e22d0a3389d6d5d/mesh/ceramic_teapot_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/3b6919428a145cc0a774a86a861f9af6/baby_bottle_011.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/3b6919428a145cc0a774a86a861f9af6/mesh/baby_bottle_011.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/3ac06fd007aa5bcfbb2691926831cd05/mesh/thermos_006.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/3ac06fd007aa5bcfbb2691926831cd05/thermos_006.usd 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
diff --git a/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/coffee_cup_013.urdf b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/coffee_cup_013.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..26eab7aee8a7b07091e9e6ddc0c9eeb65cc6ff6f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/coffee_cup_013.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="coffee_cup_013">
+   <link name="coffee_cup_013">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/coffee_cup_013.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_013_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>3d6e4a50c54951389fac8f92c39b45c6</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 coffee cup with side handle and printed coffee logo</description>
+         <min_height>0.0688</min_height>
+         <max_height>0.0688</max_height>
+         <real_height>0.0688</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518191412</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.038967 -0.040452 -0.036718</min>
+            <max>0.038690 0.059598 0.032057</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</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/3d6e4a50c54951389fac8f92c39b45c6/coffee_cup_013.usd b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/coffee_cup_013.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/coffee_cup_013.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:574b6af4bab3f20698fb76d536bd73443265fb4db4fb82ecffb7402c9d98c77f
+size 4830236
diff --git a/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mesh/coffee_cup_013.glb b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mesh/coffee_cup_013.glb
new file mode 100644
index 0000000000000000000000000000000000000000..527a31a108e082e08499ff4bac5f3f9c3622fbd9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mesh/coffee_cup_013.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 11786296
diff --git a/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mesh/coffee_cup_013.mtl b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mesh/coffee_cup_013.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f4b8d8b0c527038c8c1ed33f08a0e92d7c23210f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mesh/coffee_cup_013.mtl
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+newmtl coffee_cup_013_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/3d6e4a50c54951389fac8f92c39b45c6/mesh/coffee_cup_013.obj b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mesh/coffee_cup_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bfe9b8e04e61c3a3d5b4532ae6ccb41b6e2714b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mesh/coffee_cup_013.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mesh/coffee_cup_013_collision.obj b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mesh/coffee_cup_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6698373eb680381119f37efb56ef951bd6075cee
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mesh/coffee_cup_013_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mesh/coffee_cup_013_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mesh/coffee_cup_013_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7418759bc560da02b7a83066fbb02a6ab3b8fae7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mesh/coffee_cup_013_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 8561098
diff --git a/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mesh/material.mtl b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mesh/material.mtl
new file mode 100644
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+++ b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
+
+newmtl coffee_cup_013_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mesh/material_0.png b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/coffee_cup_013.xml b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/coffee_cup_013.xml
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index 0000000000000000000000000000000000000000..298be6627ab6dee050e6306e97e552b3b2eefd73
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+++ b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/coffee_cup_013.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013.obj b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1273c761b255388802633cf10f08ab3bf91bd77
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013.obj
@@ -0,0 +1,104606 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision.obj b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8286f551349f5afac2c387124e796aaeb84ae583
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision.obj
@@ -0,0 +1,27191 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_0.obj b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f00ddb6338c7dc9e7f92724aa44a620d45fcde2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_1.obj b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2bb789df11cdb460003b94993afd9fa93f0d6ea
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_10.obj b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43e2f52c9077eb0d38d33df4eedc9d9285f5a38a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_11.obj b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..295ddcd7f5c96514ef629fc603f8db60e74bffe4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_11.obj
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diff --git a/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_12.obj b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7abb1fc1321ac9224b050a425726ad347b92c686
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_12.obj
@@ -0,0 +1,493 @@
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diff --git a/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_13.obj b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..053709b796b4ed3e02f1a76fe668fcf48402a548
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_13.obj
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diff --git a/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_14.obj b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48d3a64a0e4fa4e2856184e4471ca84c0416717b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_14.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_15.obj b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21619fb344d19db8c476b0baaf23aacad984d94b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_15.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_16.obj b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52442fe6129235f65802a466bb8a4cfdca0e4c04
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_16.obj
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diff --git a/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_17.obj b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f35d51981f4304036665b2f4d533bf687c73e23
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_17.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_18.obj b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f19ba89d41cbd7a83b68c134ae74ea396024e96d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_18.obj
@@ -0,0 +1,541 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_19.obj b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70fe09acf65e48c2c4641d04a3a019a27265752c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_19.obj
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diff --git a/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_2.obj b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f37b7d2d6fd02f92d32439c80292d55aa69faa42
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_20.obj b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6101a8282a2a8773e966f406d81a8bbfcfae1abc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_20.obj
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diff --git a/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_21.obj b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51ba40358f481afd27d0e99a91a8c09e44afee0b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_21.obj
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diff --git a/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_22.obj b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad1d79f056886ed350f17c8ebeb26d370da35d0a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_22.obj
@@ -0,0 +1,637 @@
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diff --git a/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_23.obj b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88273517b2abead580e5db1e9b53cd0db5cbc485
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_23.obj
@@ -0,0 +1,1288 @@
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diff --git a/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_24.obj b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84b9c13168d086f6803fa6b93b4cdd5afabd21a5
--- /dev/null
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diff --git a/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_25.obj b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c197dd65592600dc253847591035b230b6d7ecfc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_25.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_26.obj b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df1e048a8cdb95324ad44877c60c050d5680afd6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_26.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_3.obj b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2c7775ef310116e369f3517714121bc684f82f6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_3.obj
@@ -0,0 +1,514 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_4.obj b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee55a0d45483c4bb7b611958229ffc677e02c05e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_4.obj
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diff --git a/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_5.obj b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee78ded6c842dacaebecf034107e823d8756c71e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_5.obj
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diff --git a/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_6.obj b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4eb42d4835214fc4f559a814b2d1ab213e386b0e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_6.obj
@@ -0,0 +1,148 @@
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diff --git a/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_7.obj b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0645ec59822744e6b24cd680e591702596ddd5b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_7.obj
@@ -0,0 +1,586 @@
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diff --git a/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_8.obj b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42f1ba783932090f14f513f81c71c497b429ec3c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_8.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_9.obj b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c4f19539a5ea61783b6711a6fc250fc38843d3a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/mjcf/mesh/coffee_cup_013_collision_9.obj
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