diff --git a/.gitattributes b/.gitattributes
index ceb23f055745cfb54d961f110e6a790961ec9c74..908d433bb359f31005f4abed32aca35ef9b4cc93 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4817,6 +4817,5 @@ dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/cf82e0113da350b28
 dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mesh/red_cup.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/mesh/red_cup_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/d2fce2a71bee50e4be221f1f20afbc53.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/d391b78878c8587795b6698f477e5fa3.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mesh/purple_cup.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/mesh/purple_cup_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/coffee_cup_019.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mesh/coffee_cup_019.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/coffee_cup_019.urdf b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/coffee_cup_019.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7468705b96bf47bd81bd0cdba0b03ae070bb3c71
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/coffee_cup_019.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="coffee_cup_019">
+   <link name="coffee_cup_019">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/coffee_cup_019.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_019_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.55</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>d15ebc93a84b5929867f59706aab4dbb</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>coffee_cup</category>
+         <name>black mug</name>
+         <color>black</color>
+         <shape>cylinder</shape>
+         <material>ceramic</material>
+         <description>matte black cylindrical coffee cup with curved side handle</description>
+         <min_height>0.0740</min_height>
+         <max_height>0.0740</max_height>
+         <real_height>0.0740</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518191731</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.035280 -0.037569 -0.036335</min>
+            <max>0.035281 0.058921 0.037677</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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/d15ebc93a84b5929867f59706aab4dbb/coffee_cup_019.usd b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/coffee_cup_019.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/coffee_cup_019.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97522ea7393adccc7a8f5e7cebbaf5e2eea34acc4810ad4326f30c55e40a3f7d
+size 4858048
diff --git a/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mesh/coffee_cup_019.glb b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mesh/coffee_cup_019.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mesh/coffee_cup_019.glb
@@ -0,0 +1,3 @@
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+size 10529604
diff --git a/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mesh/coffee_cup_019.mtl b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mesh/coffee_cup_019.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..af5a7c98ce96b3dee5063e44cc9082cd442fdc8a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mesh/coffee_cup_019.mtl
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+newmtl coffee_cup_019_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/d15ebc93a84b5929867f59706aab4dbb/mesh/coffee_cup_019.obj b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mesh/coffee_cup_019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d33dd7ce0e7d35ede8c5cdfd55c2a97f9fad7fd0
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+++ b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mesh/coffee_cup_019.obj
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+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mesh/coffee_cup_019_collision.obj b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mesh/coffee_cup_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d274d72d0b08f4a140554c50b7bedaecd2f54568
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mesh/coffee_cup_019_collision.obj
@@ -0,0 +1,19416 @@
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diff --git a/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mesh/coffee_cup_019_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mesh/coffee_cup_019_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2a59d5df8ff706b4162cf09f44e4844524a48486
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mesh/coffee_cup_019_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfe978fa5284251b9d07c5419e4564d014e93b2e27d7b08e2506fe3b11afc730
+size 7274648
diff --git a/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mesh/material.mtl b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2193311b01da4da181971640c50aa0a4a0133341
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mesh/material_0.png b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/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/d15ebc93a84b5929867f59706aab4dbb/mjcf/coffee_cup_019.xml b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/coffee_cup_019.xml
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index 0000000000000000000000000000000000000000..a66c71d8ad14fc3097757c81a64fb169093f9624
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+++ b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/coffee_cup_019.xml
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+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" 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/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019.obj b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5312e252b4fdc8dd21471756b61cba316700befb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019.obj
@@ -0,0 +1,105140 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl coffee_cup_019_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision.obj b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03811200ffa46ba4bc097d79c0f23494b44fb5aa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision.obj
@@ -0,0 +1,19416 @@
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diff --git a/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_0.obj b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab2ebd4729f8d6818a19811603bab29012122041
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_1.obj b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f22dad4c29e68aee6126dda39427bb08e1a05872
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_10.obj b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9a784888ac1fd19ad550f2596b83ce61efe010f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_11.obj b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cec40fcdfaac7ca947d22293970962c06458af21
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_11.obj
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diff --git a/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_12.obj b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e8b2783c72b5778889395b3eee8e243624f480e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_12.obj
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diff --git a/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_13.obj b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9dd19095e8f3ab1f1fa1d0c736a4cc9dd97239d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_13.obj
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diff --git a/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_14.obj b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14fb7c0322bad69586689658e0abb34b1fc14ec1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_14.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_15.obj b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52ab94f2115288a21695001bb6130579e1f0ccd1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_15.obj
@@ -0,0 +1,733 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_16.obj b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7650c22aa21f4fdb6e7dcc20c14ecbc9daa5ee57
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_16.obj
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diff --git a/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_17.obj b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51d8a95a66d21c6e5f4fa65a075ae69c9f8c272b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_17.obj
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diff --git a/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_18.obj b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9dba1251f567c50e2eaab20bed3a64dfe4ad178f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_18.obj
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diff --git a/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_19.obj b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89bde9ed18c6d25c67c2ca5629ad9cbd02fc0d4f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_19.obj
@@ -0,0 +1,646 @@
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diff --git a/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_2.obj b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ad122481cfe917d1348a003d52222fb68a8f01d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_20.obj b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ba63b5f43add362e160a64ab51f93ffbd9a2a34
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_20.obj
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diff --git a/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_21.obj b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd74860a1ae0ed13609fb22946f693a0ff2c8b61
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_21.obj
@@ -0,0 +1,226 @@
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diff --git a/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_22.obj b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5c8879f33cf2490d43866a2290c08cdd0655de2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_22.obj
@@ -0,0 +1,481 @@
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diff --git a/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_23.obj b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b52468bb287fe2d037de733e30e8a59b0c5069eb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_23.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_24.obj b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b1e8f16518f444fc7f125708dcd89ae5860cb71
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_24.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_25.obj b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e77139a897b1e6ea981596ba4ed8bdc6b9f044b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_25.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v 0.00000556 0.03167944 -0.00963183
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+v -0.00083482 0.03374927 -0.01074974
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+
diff --git a/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_26.obj b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..908ad5afb63dc32b275be9d47b07f7c72b50e797
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_26.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.00767292 -0.00091536 -0.00962931
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+v 0.00000556 -0.00091536 -0.00962931
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+
diff --git a/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_27.obj b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..287670bc63e8d55665c4d12b29179a9392850543
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_27.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.00000632 -0.00091537 -0.00804746
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+v 0.00841446 -0.00091537 -0.00804746
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+
diff --git a/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_3.obj b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..110bd73da934f5e8660b9f3d4581c8d8351ee2ea
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_3.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_4.obj b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24a027eb9e98fa9d102dc2fc7441c973f9036563
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_4.obj
@@ -0,0 +1,391 @@
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diff --git a/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_5.obj b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3450f55274d4b06e5bd0ef3072a46e0be710b714
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_5.obj
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diff --git a/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_6.obj b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94a8038449eb71aad67ea13fe3522ec6388d0a03
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_6.obj
@@ -0,0 +1,2737 @@
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diff --git a/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_7.obj b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81d45c69270f9338018cae503436407515bbf878
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_7.obj
@@ -0,0 +1,2836 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_8.obj b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0524f47ae7b882f81c52dfddb95df753825cfb8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_8.obj
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diff --git a/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_9.obj b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40823709a451fa276b0c15c3472d3a7550d38962
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/mjcf/mesh/coffee_cup_019_collision_9.obj
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