diff --git a/.gitattributes b/.gitattributes
index 590061c6cfe0d2d9726399d3c6351eb7b381e1fd..de91a084ad128a86797fc662fd5347945761a7a9 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4699,3 +4699,5 @@ dataset/kitchen_supplies/ware/4b2794260576554087aba344db020946/mesh/mug_018.glb
 dataset/kitchen_supplies/ware/4b2794260576554087aba344db020946/mug_018.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/coffee_cup_038.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mesh/coffee_cup_038.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/coffee_cup_040.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mesh/coffee_cup_040.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/coffee_cup_040.urdf b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/coffee_cup_040.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c11c18a6c89acc34c75592659d16a0ceef9c00de
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/coffee_cup_040.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="coffee_cup_040">
+   <link name="coffee_cup_040">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/coffee_cup_040.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_040_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4500" />
+         <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>4d54cc2b2cc25578a7aaf1a58f8643e3</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>coffee_cup</category>
+         <name>gray handled mug</name>
+         <color>gray,black</color>
+         <shape>cylinder</shape>
+         <material>ceramic</material>
+         <description>tall gray coffee cup with textured body and rectangular handle</description>
+         <min_height>0.1500</min_height>
+         <max_height>0.1500</max_height>
+         <real_height>0.1500</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.6</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611160252</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.061736 -0.053711 -0.068778</min>
+            <max>0.089938 0.053748 0.081222</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/coffee_cup_040.usd b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/coffee_cup_040.usd
new file mode 100644
index 0000000000000000000000000000000000000000..c173f8616568a6837e88edf2525739a57b972f6c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/coffee_cup_040.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f72a4440ed5ddac71d26dd63b55c8795e69a353a7a6c731f98034f3354d1cd2d
+size 4895828
diff --git a/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mesh/coffee_cup_040.glb b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mesh/coffee_cup_040.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d54a7c0a8ee656607065cddd3a911a191e1b6289
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mesh/coffee_cup_040.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a71c589c61f3755b0af99d547a4e8d4cfd64e46b0ed5806678e09e8445756627
+size 12117240
diff --git a/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mesh/coffee_cup_040.mtl b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mesh/coffee_cup_040.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..22a958e1bc2addf96d83abeb1f7ba5cb57806eee
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mesh/coffee_cup_040.mtl
@@ -0,0 +1,6 @@
+newmtl coffee_cup_040_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/4d54cc2b2cc25578a7aaf1a58f8643e3/mesh/coffee_cup_040.obj b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mesh/coffee_cup_040.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74afa1d7f18a10d1e0bdf11bd924491ad61af2f1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mesh/coffee_cup_040.obj
@@ -0,0 +1,107636 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl coffee_cup_040_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mesh/coffee_cup_040_collision.obj b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mesh/coffee_cup_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1147ee24f3dc621c0abf06552c66504a8dcf4b12
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mesh/coffee_cup_040_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mesh/coffee_cup_040_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mesh/coffee_cup_040_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c1dce40279b241356087176d5cf336df09d68f0d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mesh/coffee_cup_040_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0304f93468122934b7699ed9038a665078c8b53ec46a275a2bb8d610fd37b6e6
+size 8807181
diff --git a/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mesh/material.mtl b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2043ee2ea68ea6af936cb0e85fa632a87f55e27e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl coffee_cup_040_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd coffee_cup_040_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mesh/material_0.png b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c1dce40279b241356087176d5cf336df09d68f0d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0304f93468122934b7699ed9038a665078c8b53ec46a275a2bb8d610fd37b6e6
+size 8807181
diff --git a/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/coffee_cup_040.xml b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/coffee_cup_040.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6f78a73acf5b0facb8480eeccb215e8d50fadf72
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/coffee_cup_040.xml
@@ -0,0 +1,90 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="coffee_cup_040">
+  <asset>
+    <material name="material_0" texture="texture_0_coffee_cup_040_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_coffee_cup_040_geometry_Looks_material_0" type="2d" file="mesh/coffee_cup_040_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/coffee_cup_040.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/coffee_cup_040_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/coffee_cup_040_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/coffee_cup_040_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/coffee_cup_040_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/coffee_cup_040_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/coffee_cup_040_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/coffee_cup_040_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/coffee_cup_040_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/coffee_cup_040_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/coffee_cup_040_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/coffee_cup_040_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/coffee_cup_040_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/coffee_cup_040_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/coffee_cup_040_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/coffee_cup_040_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/coffee_cup_040_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/coffee_cup_040_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/coffee_cup_040_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/coffee_cup_040_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/coffee_cup_040_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/coffee_cup_040_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/coffee_cup_040_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/coffee_cup_040_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/coffee_cup_040_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/coffee_cup_040_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/coffee_cup_040_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/coffee_cup_040_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/coffee_cup_040_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/coffee_cup_040_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/coffee_cup_040_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/coffee_cup_040_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/coffee_cup_040_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/coffee_cup_040_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/coffee_cup_040_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/coffee_cup_040_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/coffee_cup_040_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/coffee_cup_040_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/coffee_cup_040_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="coffee_cup_040">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" 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/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040.obj b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e0774bfff2ce17b3e744c712cd74295ca921b72
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040.obj
@@ -0,0 +1,107636 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl coffee_cup_040_geometry_Looks_material_0
+v 0.088797 0.006590 0.041070
+v 0.088873 0.007254 0.042662
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diff --git a/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision.obj b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4becc8fb798aff26e5157064bde95a6136ba6a73
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision.obj
@@ -0,0 +1,19483 @@
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diff --git a/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_0.obj b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d92d3535ee7bc929d48414e86a75861eb7d0fbd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_1.obj b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b14f10ccf4f97b2edd3674c5d19b4e07a53c4a6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_10.obj b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c213d9b15e1a5be7813c69539eea46b04b4eb39
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_10.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_11.obj b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2031eac43362b4461d5858861e2224acd509cef9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_11.obj
@@ -0,0 +1,472 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_12.obj b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..208cef4100ce6fabf15b1d3dacf21c3c38e8e75d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_12.obj
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diff --git a/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_13.obj b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74955eeefe02d3971b1bfacd6e0c76535d640bbf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_13.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_14.obj b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6ab3ce69e695922db0716cdb23b8a170ca66aa9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_14.obj
@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_15.obj b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ea7e23b66a37e4b0db37002beecd0926a25b18a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_15.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_16.obj b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..092129ed7852ed3c588521c8c7a77cee4fc00248
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_16.obj
@@ -0,0 +1,244 @@
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diff --git a/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_17.obj b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a7b3d854e920548e8111340f5b6f10cf757a10f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_17.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_18.obj b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8df7314f271f0cb0ad4cbf0a06b8c0006cbafa89
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_18.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_19.obj b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61b0d8df2d77e3540dcd5e37c1277d1d2b6f7485
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_19.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_2.obj b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2316d3a20a2a7b4506b0e18aa09744661d05e40d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_2.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_20.obj b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29e08f695c804d033f6162068ac153f3382b1488
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_20.obj
@@ -0,0 +1,505 @@
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diff --git a/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_21.obj b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ed6a873600cfa472cac0377643c2bd4ae999095
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_21.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_22.obj b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc4862a5fec62beb0c0f33fc4ee193ff46996ad6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_22.obj
@@ -0,0 +1,127 @@
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diff --git a/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_23.obj b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6004c9f8a89b487b5f7e6809718e0250fec5b11c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_23.obj
@@ -0,0 +1,508 @@
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diff --git a/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_24.obj b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..804ebbee08bcd5c0e4837f7eafe8904dbb0467cc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_24.obj
@@ -0,0 +1,535 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_25.obj b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8ec29f88a516c3041a2fa8822831af063289019
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_25.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_26.obj b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7f2fb31f4c56a9877079faa7814da84770ac299
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_26.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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+v -0.05656113 0.00125723 -0.05479613
+v -0.04980059 0.00012076 -0.05479613
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+
diff --git a/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_27.obj b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc31dbfbe3df1d7b7a317106be6d376933f130cf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_27.obj
@@ -0,0 +1,877 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_28.obj b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcd18f317605d625a3db846b9433c51d6ec8b610
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_28.obj
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diff --git a/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_29.obj b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f25f29a3c314fdcc3a9c705691937dea95152193
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_29.obj
@@ -0,0 +1,337 @@
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diff --git a/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_3.obj b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..784fa75f72578d95e44e8b7e7db37359fca25f0a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_3.obj
@@ -0,0 +1,568 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_30.obj b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df745aac68ab0713876a3aff846393415a2b1ae2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_30.obj
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+
diff --git a/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_31.obj b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f42b468f827f9f6b091453a52a65b8f40aaa53e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_31.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.04104592 -0.01417148 -0.04168777
+v 0.04104592 -0.01417009 -0.04014293
+v 0.04104592 -0.01400305 -0.04413011
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+v 0.04104592 -0.01415757 -0.03909219
+v 0.04104592 -0.01368986 -0.04514644
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+
diff --git a/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_32.obj b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cf89b40caaec3c1292ecd8a77e86ce49ba2a249
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_32.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.01795645 -0.03287596 -0.02434047
+v 0.00079645 -0.04052201 -0.02434050
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+
diff --git a/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_33.obj b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..734890597692d7026cbd75648ee9e98c31568bf1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_33.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v 0.02970263 0.01572226 -0.05667011
+v 0.01905522 0.03038728 -0.05667006
+v 0.03837086 0.01572226 -0.05667011
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+
diff --git a/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_34.obj b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e359272538dd576abe08a6421d9e6bd1a5190216
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_34.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.01905344 0.04032995 -0.02543527
+v 0.01794890 0.04094773 -0.02543527
+v 0.01905344 0.03227944 -0.02543530
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+v 0.01459419 0.04246714 -0.05500661
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+
diff --git a/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_35.obj b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e4320100ece0cb5d1f1181a2b45f067610d2748
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_35.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v 0.03409947 0.00004831 -0.02543236
+v 0.04230135 0.00004831 -0.02543236
+v 0.03410430 0.00004831 -0.02505472
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+v 0.04125032 0.01457364 0.02340314
+v 0.03667576 0.00004813 0.02340309
+v 0.03169212 0.01457382 -0.02352498
+v 0.03858715 0.01377332 -0.02543231
+v 0.03419601 0.00004829 -0.01878298
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+
diff --git a/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_36.obj b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e7909713cd3b22f558ddb8c820b2a8bfb024d5f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_36.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.02761948 -0.01999821 -0.05635746
+v 0.03262811 0.00004647 -0.05635739
+v 0.03653802 -0.01999821 -0.05635746
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diff --git a/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_37.obj b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f9a1b063fa26a92e805e82946a4f58890a59bea
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_37.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_4.obj b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9b7fbaee0bf12acf2f322584ffbcf2c458603e5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_4.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_5.obj b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c987b2ed91eff1d6f60a8f8b6e6209bd96c74395
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_5.obj
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diff --git a/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_6.obj b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a93a48a8f01a3d73c57fe5045711b0448f89eca5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_6.obj
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diff --git a/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_7.obj b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc4352d47665d28a1e6135d06f1a7e6737ecb1fb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_7.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_8.obj b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7582f3f9a714ec08e9125baf673a5570868a365
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_8.obj
@@ -0,0 +1,838 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_9.obj b/dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/mjcf/mesh/coffee_cup_040_collision_9.obj
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