diff --git a/.gitattributes b/.gitattributes
index 0d38e09f8f981c46c66142c04e84291bda086da0..4d0cee587c10c8ed3d3bf97c6603c2e41ce6d065 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4768,6 +4768,7 @@ dataset/kitchen_supplies/ware/8e14e822769a5828800ae6647acb6588/mesh/coffee_cup_0
 dataset/kitchen_supplies/ware/8e14e822769a5828800ae6647acb6588/mjcf/mesh/coffee_cup_004.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/a04ea353f0795563bcd4013aa781302c/mesh/mug_033.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/a04ea353f0795563bcd4013aa781302c/mug_033.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/a8a4a3eb374f54c398b4084e131ae9d5.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mesh/ceramic_teapot.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/mesh/ceramic_teapot_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/coffee_cup_005.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mesh/coffee_cup_005.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mesh/coffee_cup_005.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005.obj filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/coffee_cup_005.urdf b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/coffee_cup_005.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2c36061a0e73c402344d88df58ddc1389c331751
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/coffee_cup_005.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="coffee_cup_005">
+   <link name="coffee_cup_005">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/coffee_cup_005.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_005_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>98ea70ba9f78536fb4800dec8d3115d6</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>coffee_cup</category>
+         <name>enamel cup</name>
+         <color>gray,blue</color>
+         <shape>cylinder</shape>
+         <material>metal</material>
+         <description>gray enamel cup with blue base and black rim</description>
+         <min_height>0.0840</min_height>
+         <max_height>0.0840</max_height>
+         <real_height>0.0840</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428015730</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_container,is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>1</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/98ea70ba9f78536fb4800dec8d3115d6/coffee_cup_005.usd b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/coffee_cup_005.usd
new file mode 100644
index 0000000000000000000000000000000000000000..467049898fc370fe138c1b6cd758bf95c0593fe1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/coffee_cup_005.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de89bc1ff0820ed229f96e6493196d6abfa05aff99c1a722d82ec3daec9a1c1b
+size 127229156
diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mesh/coffee_cup_005.glb b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mesh/coffee_cup_005.glb
new file mode 100644
index 0000000000000000000000000000000000000000..26b278e27c6ae819ec5f3ea5030361012c094fab
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mesh/coffee_cup_005.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96a7d1ada1de41f767eaba23c04d2c17b111b638629553db635547d454aef42f
+size 79183108
diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mesh/coffee_cup_005.mtl b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mesh/coffee_cup_005.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d807e42d4ff8db1c34ad74c9634011d761968621
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mesh/coffee_cup_005.mtl
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+newmtl coffee_cup_005_geometry_Looks_material_0
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+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/98ea70ba9f78536fb4800dec8d3115d6/mesh/coffee_cup_005.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mesh/coffee_cup_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c670763031eae5e39b1e6d1ced7c49c4d8cd7e5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mesh/coffee_cup_005.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c3acc3fdcf415ec519c389eab709c30f045fad8b8fc396e70eecf5cc6b1e4d5
+size 113358005
diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mesh/coffee_cup_005_collision.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mesh/coffee_cup_005_collision.obj
new file mode 100644
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+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mesh/coffee_cup_005_collision.obj
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+
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diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mesh/coffee_cup_005_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mesh/coffee_cup_005_geometry_Looks_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/98ea70ba9f78536fb4800dec8d3115d6/mesh/material.mtl b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..28b33af28d079007bf2527696ecd4290ea07f435
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl coffee_cup_005_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mesh/material_0.png b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:956f632bfde7ad247de4967b9ee3d434feaafd4f45236e5a2b5e01f4b2c7a97b
+size 11320037
diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/coffee_cup_005.xml b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/coffee_cup_005.xml
new file mode 100644
index 0000000000000000000000000000000000000000..17f97f95b03192137f3d8c6f2bf7688cd3059639
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+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/coffee_cup_005.xml
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diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..162f1ed70fa3d276a7ada303a4bb904bed56d049
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005.obj
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diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..601b9f0595236c66eae45a98876391bee609824f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision.obj
@@ -0,0 +1,21417 @@
+# https://github.com/mikedh/trimesh
+
+o coffee_cup_005_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_0.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..844efcbc86a11a88edb470a14fd2aab7448b61ed
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_0.obj
@@ -0,0 +1,1264 @@
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diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_1.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91caebf7db3a4f295e136d2724f0f132f50c881c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_10.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..447d5d36aeb4202544108fddb4f61a9c2e6bb277
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_11.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1566fd815bfbcc41d3c49d906703d2a324c95d0b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_11.obj
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diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_12.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..216fb5ff3074e1730b95d13a5825946beff90a22
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_12.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_13.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34a003fda0ec5703d035ef4df76c00bb1edc2103
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_13.obj
@@ -0,0 +1,442 @@
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diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_14.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c3b12cd2a494040ca46dac4a1d98c5c2e044be6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_14.obj
@@ -0,0 +1,340 @@
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diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_15.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66e99ea3d54a88a3d024b5900a8640b48d9c7081
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_15.obj
@@ -0,0 +1,184 @@
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+
diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_16.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80f4e255ee624113139aa16354e33b4646c6e0fb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_16.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.03064059 0.02235526 0.00660265
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+
diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_17.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e54372401ab66d886faad6b19dab667d830d291a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_17.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_18.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f0293b9843d4e46fb45d3be8502125534798859
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_18.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_19.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5d210d7d2064b95efc01423fd153763e5cff5d1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_19.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_2.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e873f0c762f3d71f7f66684ee071e3a977e434e4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_2.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_20.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..737ebc1e47a5836d0b624f0b047ea11c181ea7a3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_20.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_21.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4183c86f9c0df2fb207f6207561dccf2a34ec1a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_21.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_22.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab42b4f06b6c08edad1bb220f4f1e1aee6c3f240
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_22.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_23.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb37956bff9ffeadf0acd459ec5dd64c2ded9694
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_23.obj
@@ -0,0 +1,454 @@
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diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_24.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cabccfcfafc054fb9bee5c78938127722a10704
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_24.obj
@@ -0,0 +1,196 @@
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diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_25.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d934a819d3faf61b7e50e05bf09e8bcfd4fc553b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_25.obj
@@ -0,0 +1,115 @@
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diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_26.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8dbc09f16897feab5b5a928088ad8717cdb8eb62
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_26.obj
@@ -0,0 +1,655 @@
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diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_27.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fb9e7233ec68888f7ce80608a33e69bc6ad1707
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_27.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_28.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..847ffb7a890f400f145bcb171afbdc98d4d40ba1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_28.obj
@@ -0,0 +1,256 @@
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diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_29.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bfcc0ceb86c61c368937a44f923f9b9bb13c7a0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_29.obj
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diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_3.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c33b5207e1c424330628659be33f49890ca8e92
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_3.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_30.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..377062b8a34a56aecb37b3a9fa8506c599c3c2b4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_30.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_31.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1521666da374519dfb99f31baf8d77c455890b5a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_31.obj
@@ -0,0 +1,502 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_32.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ec9c7a6658e447cf6460c04bb4e66063035cb69
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_32.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_33.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..437879c8e4aba09c8f3975c8ba1d269f46d8ac94
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_33.obj
@@ -0,0 +1,448 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_34.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73ff852001f3f18efb36a417c3ae501cf0288dba
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_34.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_35.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c75636df0ac876fa6eac0695410d181399b9a0a2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_35.obj
@@ -0,0 +1,301 @@
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diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_36.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47e00f2a6e5324caf0c6b752976b10da2d27aefc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_36.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_37.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4ddc6a12d7a3c31d908abc7ac1e31075733b30a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_37.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_38.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c029ddd07baab3d2d0811c2246a76b1a18989e7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_38.obj
@@ -0,0 +1,421 @@
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diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_39.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e78bcc50dc3e37d81ea91e8271734bf548ed6723
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_39.obj
@@ -0,0 +1,202 @@
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diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_4.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f09b739863a4a726f2dab80980e51060567129d6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_4.obj
@@ -0,0 +1,760 @@
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diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_40.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf515ac49c295e6449535b0d0da9322f1d7c80d3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_40.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_41.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2eddc64aa9ea6216b0e0301777411d5405ab9aa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_41.obj
@@ -0,0 +1,229 @@
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diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_42.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..633a345ec50f55c8867f332180354861592c9dab
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_42.obj
@@ -0,0 +1,400 @@
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diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_43.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c836d86829410577b0cdc6c8ec03bff64617bb6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_43.obj
@@ -0,0 +1,445 @@
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diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_44.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1ba619452e076a4dc3d17d3e2b4f7bbdc062b7b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_44.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.03480684 -0.01576840 -0.02991651
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+
diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_45.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5ae59c229fa8281f8cdefe1a367ea42f5016dbf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_45.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_46.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d807f193371f697e11cfe43c294976359e7389bb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_46.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v -0.01493486 -0.02619071 -0.03406327
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+v -0.01493486 -0.03543749 -0.03406330
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+
diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_47.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20024f1dfa29dafb101d212bd81bd5b0885a2839
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_47.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_48.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c385c5c41c49a81ffca7da9bfc4862c172a2b9e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_48.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_49.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6de47cae7065b73b25736a2f15093d6084f5466
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_49.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_5.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12fecbee38f6190c0b4bc593f98399e4742cdb30
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_5.obj
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diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_50.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5bfe5d1e3bb1b4fc11a1fdb2740d5d5a1ef55bb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_50.obj
@@ -0,0 +1,424 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_51.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6aac539da1bbbad7457adfe54c25dfcd94df1e75
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_51.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_52.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af4120ab7637b9dfe1e1ae0585d082eda481800d
--- /dev/null
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diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_53.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b7969c4b6a86eb9308dec2758b7082972d99476
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_53.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_54.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a29951fd87fb32d53c3de813c3666cd5e795ea7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_54.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_55.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..661594883f1def1210e2e19330a3b0c86634e0e8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_55.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_56.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92094edf5dbd842e6463106b68f7d457860e7789
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_56.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.00315658 0.04004117 -0.03074364
+v 0.00315658 0.03999423 -0.03254795
+v 0.00134250 0.03998248 -0.03074364
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+
diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_57.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..717f51abc5b7355d03c33af9295835f4c6acf6af
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_57.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.03850912 -0.00000306 -0.03002303
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+v 0.04376950 -0.00000306 -0.03002303
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+
diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_6.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..097d1746c129950d42e10f5f2a3376e3d634b645
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_6.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
+v -0.03239668 -0.00634408 0.03421046
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diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_7.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef4315bff3e8ba04d6d84ce3e0dde3879a99a3ed
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_7.obj
@@ -0,0 +1,313 @@
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diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_8.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af02b264322f49c7dcaea84663fd9bf680065212
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_8.obj
@@ -0,0 +1,580 @@
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diff --git a/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_9.obj b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9eb199e96fcbaffe3c812fbcc05df6abb1d75ad
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/mjcf/mesh/coffee_cup_005_collision_9.obj
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