diff --git a/.gitattributes b/.gitattributes
index ec94b10e4798848f7e9620cbf088cd1b85002956..c545130faca9e0237b1256c7b2b5e8d126579cce 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4625,3 +4625,4 @@ dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/mesh/ceramic_teap
 dataset/kitchen_supplies/ware/0625c846390a5801b47b7e58acad5214/0625c846390a5801b47b7e58acad5214.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/0625c846390a5801b47b7e58acad5214/mesh/purple_cup.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/0625c846390a5801b47b7e58acad5214/mesh/purple_cup_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/0573bd7555e353eba30f452f6feb6ef7.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/0573bd7555e353eba30f452f6feb6ef7.urdf b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/0573bd7555e353eba30f452f6feb6ef7.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..29104a62a4541595030fe0e3577a111a2f71b700
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/0573bd7555e353eba30f452f6feb6ef7.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="coffee_mug">
+   <link name="coffee_mug">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/coffee_mug.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/coffee_mug_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <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>0.137994</scale>
+         <version>v0.1.5</version>
+         <category>coffee mug</category>
+         <description>plain ceramic coffee mug with cylindrical body and curved handle</description>
+         <min_height>0.1</min_height>
+         <max_height>0.12</max_height>
+         <real_height>0.11</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <generate_time>20251006084142</generate_time>
+         <gs_model>mesh/coffee_mug_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.543471336364746</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <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>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/0573bd7555e353eba30f452f6feb6ef7.usd b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/0573bd7555e353eba30f452f6feb6ef7.usd
new file mode 100644
index 0000000000000000000000000000000000000000..d0683ed6e89dedcc1c06a2f8a1aa0d6bea62c208
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/0573bd7555e353eba30f452f6feb6ef7.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb967a9827676ef1cc6d0e50cebd7ba2c1ead4f18d3bff54af5c1d7d0766eb20
+size 326266
diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mesh/coffee_mug.glb b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mesh/coffee_mug.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8c5380823fa37277b060932a3f73bd05d59acfdb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mesh/coffee_mug.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0031f90d6880d6cf3bfb8a19837a58ba6811f9ce39fa63f59819679dff2c7cf
+size 857224
diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mesh/coffee_mug.obj b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mesh/coffee_mug.obj
new file mode 100644
index 0000000000000000000000000000000000000000..410a98a60d13a8304d0b83a1ab9cb04a6fda773c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mesh/coffee_mug.obj
@@ -0,0 +1,19886 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mesh/coffee_mug_collision.obj b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mesh/coffee_mug_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3d0843a36a0426d9109bc41b80479b5b8481a85
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mesh/coffee_mug_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mesh/coffee_mug_gs.ply b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mesh/coffee_mug_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f0535e181b0c1a4526685441433a25398feaf2f5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mesh/coffee_mug_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01febffe4e247e958526cd29c4822f1c6e9c7e44fa52e2097dcd3380516dcd06
+size 38942314
diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mesh/material.mtl b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mesh/material_0.png b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cde6dc894dba9ac392333b8244aea4c52a7a70ea7d5b9e555e00dc611086499
+size 638441
diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/0573bd7555e353eba30f452f6feb6ef7.xml b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/0573bd7555e353eba30f452f6feb6ef7.xml
new file mode 100644
index 0000000000000000000000000000000000000000..78b3e88f0ab938d81db957832ccf3cfae9989395
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/0573bd7555e353eba30f452f6feb6ef7.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="coffee_mug">
+  <asset>
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+    <mesh name="collision_mesh_0_36" file="mesh/coffee_mug_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/coffee_mug_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/coffee_mug_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/coffee_mug_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_45" file="mesh/coffee_mug_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="coffee_mug">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
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diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug.obj b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d16de52e25e8fa964f2d8fffd29055c99b33e2ee
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug.obj
@@ -0,0 +1,19886 @@
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diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision.obj b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ad2c8674515dabeaa4fb64963070907f02fe51b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision.obj
@@ -0,0 +1,15252 @@
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diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_0.obj b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3211b9aaa15c32cf165952b99799af4c93be3a2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_0.obj
@@ -0,0 +1,1216 @@
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diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_1.obj b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7b5511f1eac3fa2db80860cd7b0ca3b25e203b5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_10.obj b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7913acfc8866ac7b3b101272333b1c6315742c3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_10.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_11.obj b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecabcfb367788b4806e18e8d1eb5346d6665828e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_11.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_12.obj b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..505f2f1a795656c74b49a98eb3eb26b4e387e781
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_12.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_13.obj b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..440f172aaa16f7a5e27bb616e934574f7c60c8e3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_13.obj
@@ -0,0 +1,403 @@
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diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_14.obj b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36418c9d665242f2122545c6a90055315c3c6c85
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_14.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_15.obj b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..543675cbda18fbc23653ac6575e2987af7c89b0e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_15.obj
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diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_16.obj b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a893742eec814b576a9f8510c4eb6b8534e9a6e5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_16.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_17.obj b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb2fb31d295ce46e4b426d941acb02db176972ab
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_17.obj
@@ -0,0 +1,406 @@
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diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_18.obj b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..142a69688e6bb1a2c176fe604a7fa425020a174a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_18.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_19.obj b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4505111b2b37d9fec621f0fad50f73345a96afc3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_19.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_2.obj b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffde2ddb27eb9783b27e06d232f1522e5217ab7f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_2.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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+v -0.00000880 -0.01289838 -0.05159625
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diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_20.obj b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0491d20be11de478a00e6b0e736300ba023ef9c4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_20.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_21.obj b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79865634f928daf8e5ce1e3b15a4e5a2c3304380
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_21.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_22.obj b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..869183ae5901dff8babc5508416811ae2bed4ce6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_22.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_23.obj b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fe26c7508418cec6010c824b082d063ee362a95
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_23.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.01427265 0.01929609 -0.04434516
+v 0.01427265 0.01976918 -0.03402681
+v -0.00000740 0.02220400 -0.03979558
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+v -0.00000740 0.03498930 -0.03402675
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+
diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_24.obj b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efc52b778b5f985e7b629cd0f3e6be792aa35500
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_24.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.03791344 -0.01290247 -0.04758310
+v 0.04043593 -0.01290250 -0.03770927
+v 0.04558171 -0.01290247 -0.04758310
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+
diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_25.obj b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36eeea8e6216a6c1a33b5a6bf845bfc95d177d2e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_25.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v 0.04626729 -0.02993904 0.05500078
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diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_26.obj b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ca7efc6ee6b40c2b3b020575b440803ee7abc1c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_26.obj
@@ -0,0 +1,301 @@
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diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_27.obj b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..104203bcfc1570bcccbb678fd0b9eaeccfb049f1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_27.obj
@@ -0,0 +1,400 @@
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diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_28.obj b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..737d7180c78e1b5d34bf8f09ab288d6c82382685
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_28.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_29.obj b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b38e175f20ce0f172ffb18f01599fd136a43863
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_29.obj
@@ -0,0 +1,337 @@
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diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_3.obj b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6403e74f88c6a81b2180c3a72b625a283d119004
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_3.obj
@@ -0,0 +1,370 @@
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diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_30.obj b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aeedde4b0bd705eaa5fe509b1233e1b3f768f166
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_30.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_31.obj b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c337714ca851f4341790791859f9f190cefce51
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_31.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_32.obj b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d9a2bfcf232da0f6e2cde4c839946bbd0e57170
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_32.obj
@@ -0,0 +1,415 @@
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diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_33.obj b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59af176787c20b8560d28ba5875e5fddc751d73a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_33.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_34.obj b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5017c3888e8039a68ffb7326d1ab5f4c6236335f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_34.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_35.obj b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c36677620f823a98075048c7f7b3aec7ad5dbe62
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_35.obj
@@ -0,0 +1,430 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_36.obj b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fcc80f236e158f9181d6088faaa623dad31bbf8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_36.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_37.obj b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..101e532679f344a2589a1ac53270633643f8ef0c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_37.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_38.obj b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5c9257c6928afe3629667e3ee53f97ee5f8342b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_38.obj
@@ -0,0 +1,586 @@
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diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_39.obj b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41784dc6e546b63f19f89ff1c8a0821f44b24129
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_39.obj
@@ -0,0 +1,403 @@
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diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_4.obj b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c2593cf1b5b01253e9df5f9affe5bb82dd3ab47
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_4.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_40.obj b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4fa4c4673a07fc1819b3e319cfee22672cf2b53
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_40.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_41.obj b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84b2c94345207858effb0eabe7d40bd3e5d98f90
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_41.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_42.obj b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adb4b4aaced2272c5bc111a5861da4f74703754b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_42.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_43.obj b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a5d797596f10a821c0b966a8f5869f86c1d6d2e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_43.obj
@@ -0,0 +1,403 @@
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diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_44.obj b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3181535bdf62cd388d0f2ed778c6a325fbf4c789
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_44.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_45.obj b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f36ed2ff10d1777fa7710980d03b0833ac9a47e5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_45.obj
@@ -0,0 +1,538 @@
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diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_5.obj b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..258c424e29246b74b2019d51e1016280706846ad
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_5.obj
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diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_6.obj b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ce61211f8a202e82f141eca504bce95f55c8825
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_6.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_7.obj b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44bfa25e7303f817d152a34b1ed9642d03e98d6d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_7.obj
@@ -0,0 +1,523 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_8.obj b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e02dc103420af2bc903f0460df97f32a1ef565bb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_8.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_9.obj b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9d6733a21f37174abc136272d6a63d250eb003c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/mjcf/mesh/coffee_mug_collision_9.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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