diff --git a/.gitattributes b/.gitattributes
index e0ed3aea419e08fb358627e6c705ed019ac45ea9..590061c6cfe0d2d9726399d3c6351eb7b381e1fd 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4697,3 +4697,5 @@ dataset/kitchen_supplies/ware/4b2f84fb58c0593896621e76e1a84edf/mesh/cup.glb filt
 dataset/kitchen_supplies/ware/4b2f84fb58c0593896621e76e1a84edf/mesh/cup_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/4b2794260576554087aba344db020946/mesh/mug_018.glb filter=lfs diff=lfs merge=lfs -text
 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
diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/coffee_cup_038.urdf b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/coffee_cup_038.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..09e920ebaa65edb88521836c50d6dbcc888fd3d1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/coffee_cup_038.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="coffee_cup_038">
+   <link name="coffee_cup_038">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/coffee_cup_038.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_038_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2250" />
+         <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>4a14ea92f214557d8e33ea99d72d8d51</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>coffee_cup</category>
+         <name>black ceramic cup</name>
+         <color>black,golden</color>
+         <shape>cylinder</shape>
+         <material>ceramic</material>
+         <description>black flared ceramic coffee cup with gold floral decoration</description>
+         <min_height>0.0900</min_height>
+         <max_height>0.0900</max_height>
+         <real_height>0.0900</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.3</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611160148</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.051365 -0.051370 -0.045111</min>
+            <max>0.051413 0.051329 0.044889</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/4a14ea92f214557d8e33ea99d72d8d51/coffee_cup_038.usd b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/coffee_cup_038.usd
new file mode 100644
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+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/coffee_cup_038.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4936052
diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mesh/coffee_cup_038.glb b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mesh/coffee_cup_038.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mesh/coffee_cup_038.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12916992
diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mesh/coffee_cup_038.mtl b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mesh/coffee_cup_038.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dfaabcee84be7c3c23395d6ebbfaa056e87266f9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mesh/coffee_cup_038.mtl
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+newmtl coffee_cup_038_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/4a14ea92f214557d8e33ea99d72d8d51/mesh/coffee_cup_038.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mesh/coffee_cup_038.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b978c7888affe168d3ccd575dd1e1abd776b747d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mesh/coffee_cup_038.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mesh/coffee_cup_038_collision.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mesh/coffee_cup_038_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77e73b3f2402fe5a7822f5f65594170865e9018a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mesh/coffee_cup_038_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mesh/material.mtl b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mesh/material_0.png b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/coffee_cup_038.xml b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/coffee_cup_038.xml
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+    <mesh name="collision_mesh_0_16" file="mesh/coffee_cup_038_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/coffee_cup_038_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/coffee_cup_038_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/coffee_cup_038_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/coffee_cup_038_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/coffee_cup_038_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/coffee_cup_038_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/coffee_cup_038_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/coffee_cup_038_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/coffee_cup_038_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/coffee_cup_038_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/coffee_cup_038_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/coffee_cup_038_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/coffee_cup_038_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/coffee_cup_038_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/coffee_cup_038_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/coffee_cup_038_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/coffee_cup_038_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/coffee_cup_038_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/coffee_cup_038_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/coffee_cup_038_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/coffee_cup_038_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/coffee_cup_038_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/coffee_cup_038_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_41" file="mesh/coffee_cup_038_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/coffee_cup_038_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/coffee_cup_038_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/coffee_cup_038_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/coffee_cup_038_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/coffee_cup_038_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/coffee_cup_038_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/coffee_cup_038_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/coffee_cup_038_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/coffee_cup_038_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/coffee_cup_038_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/coffee_cup_038_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/coffee_cup_038_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/coffee_cup_038_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/coffee_cup_038_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/coffee_cup_038_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/coffee_cup_038_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/coffee_cup_038_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/coffee_cup_038_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/coffee_cup_038_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/coffee_cup_038_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_62" file="mesh/coffee_cup_038_collision_62.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_63" file="mesh/coffee_cup_038_collision_63.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_64" file="mesh/coffee_cup_038_collision_64.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_65" file="mesh/coffee_cup_038_collision_65.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_66" file="mesh/coffee_cup_038_collision_66.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_67" file="mesh/coffee_cup_038_collision_67.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_68" file="mesh/coffee_cup_038_collision_68.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_69" file="mesh/coffee_cup_038_collision_69.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_70" file="mesh/coffee_cup_038_collision_70.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="coffee_cup_038">
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_68" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_69" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_70" 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/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038.obj
new file mode 100644
index 0000000000000000000000000000000000000000..113cb8287039882085059385d862fd3719041cd0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038.obj
@@ -0,0 +1,103992 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl coffee_cup_038_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1675f43240c08055aed07f604f98bb25921694a7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision.obj
@@ -0,0 +1,29980 @@
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_0.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f60eca0980690002bce6e5d124bac62c146ee2f
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_1.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3b7ad08207bc0fd602048d36242e52be880f8a4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_1.obj
@@ -0,0 +1,418 @@
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_10.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10e6ef4bfd40368840693beb6c54cbd3ee59a416
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_10.obj
@@ -0,0 +1,490 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_11.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..246772abf3723aae44f9403b96b9c851e3527275
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_11.obj
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_12.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f68addaabd476b3159771e6b1cc73d7ee7f0fe43
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_12.obj
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_13.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ecfb13500d9980c74365c5349884b2a6f39dc98
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_13.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_14.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d52bb911fb3b011e182b00e75513bb15ea3428e2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_14.obj
@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_15.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0ae09385f9364374c6151d3a23993ce67744a4b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_15.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_16.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5d50ef05f43d3467079c4df1454c7e202ed0b11
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_16.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00007393 -0.00001902 -0.03093493
+v 0.01838610 -0.00001902 -0.03093493
+v 0.00007393 -0.00001903 -0.02742262
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+
diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_17.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe9fbf960af4f2443c8d77c2fcd13b8a8fa3c488
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_17.obj
@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
+v -0.01563681 0.03445186 0.01185085
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+v 0.00007239 0.03782827 0.01185086
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_18.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bae033dc3dcb011585620ee30ff5421df623cdbc
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_18.obj
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_19.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb5dc932bd099e953828fc7fce1df1a08d98486c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_19.obj
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_2.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e699ae87c09ab804b0b998acf7be17ffbea93f4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_20.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f60fa02f7a9119de8580182c360dc91db1152fd9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_20.obj
@@ -0,0 +1,310 @@
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_21.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4439f20532a860ef12bfc1a36edf0f32236c3ff7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_21.obj
@@ -0,0 +1,703 @@
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_22.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ed1db95697ed4fbab8c3e2400c2454b97ce3b08
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_22.obj
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_23.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..694407b13e71ec57225b815082d7b12b5492d4c6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_23.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_24.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ac815325af6db3555d6aeb7b7d9a156cd29032a
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_24.obj
@@ -0,0 +1,601 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_25.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5e5612a8c5c6ada15fe1bda0449df5008e8a930
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_25.obj
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_26.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24f15710fa81c6429afe777de81fa2bc267a308f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_26.obj
@@ -0,0 +1,382 @@
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_27.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8f6846ed5622c85c9d482e36b436f5169c4c7ce
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_27.obj
@@ -0,0 +1,469 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_28.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5fed22a6fc270fb5427b1ea8364c277f44b9b50
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_28.obj
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_29.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08be1551105ba419b15d5d422c996cad5b23a2a1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_29.obj
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_3.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d50e179cc7659ead6daa9beb2ed80b3d282d5a57
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_3.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_30.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01c3ae077f32d1f6f93c143a3ac223cbc2445595
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_30.obj
@@ -0,0 +1,727 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_31.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d92bba78668d78130f3eeba0b705d84e23718f4b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_31.obj
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_32.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a61ab4e9b410b71524f12e62a2be225df8d89ef6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_32.obj
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_33.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02a079446490cfff85d71c18c84db5ed60199b08
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_33.obj
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_34.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3036bf87cad7e8bdf0d0384881477db62151210
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_34.obj
@@ -0,0 +1,358 @@
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_35.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5e4467987b079388a350d39384fbc71a104163b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_35.obj
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_36.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a868071f6e865cc0a3f3163d5d9fd04f7820147
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_36.obj
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+
diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_37.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00ce325377f7c7bd47b5b86ec3218168d3760a39
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_37.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v -0.01806372 -0.00001873 -0.03135247
+v 0.00007215 -0.00001873 -0.03135247
+v -0.01806372 -0.00001876 -0.02423954
+v -0.01806372 0.01951627 -0.03135240
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+v -0.01806372 0.01972694 -0.03111069
+v -0.01806372 0.01961870 -0.03125352
+v -0.01789150 0.01972695 -0.03132274
+v -0.01789328 0.01969409 -0.03135240
+f 1 2 5
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+f 8 14 9
+f 9 14 15
+f 11 15 14
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+
diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_38.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbfed6464b97cd54b97529e552cc49af7a855ad5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_38.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00007392 -0.01607316 -0.02480779
+v 0.00007392 -0.00997045 -0.02575433
+v -0.01200739 -0.01607316 -0.02365839
+v 0.00007392 -0.01607311 -0.03716823
+v 0.00007392 -0.00997041 -0.03504201
+v -0.01200739 -0.00997045 -0.02488250
+v -0.01200739 -0.01607310 -0.04183342
+v -0.01200739 -0.00997040 -0.03705256
+f 1 2 3
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+f 1 5 2
+f 2 5 8
+f 2 8 6
+f 2 6 3
+f 3 6 8
+f 3 8 7
+f 4 7 5
+f 5 7 8
+
diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_39.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b31c2e8b1a98695cc659051010e058561e445352
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_39.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.00979539 -0.01236333 -0.02487575
+v 0.00007488 -0.01236333 -0.02545709
+v 0.00979539 -0.01236328 -0.03682547
+v 0.00979539 -0.00001904 -0.02574713
+v 0.00007488 -0.00934251 -0.02582904
+v 0.00007488 -0.01236329 -0.03563470
+v 0.00979539 -0.00001900 -0.03492581
+v 0.00007488 -0.00001900 -0.03417837
+v 0.00934909 -0.00001904 -0.02580445
+v 0.00007488 -0.00001903 -0.02742332
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+f 4 9 5
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+
diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_4.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e27fc80246115c044afc5f0b760753b83d67523f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_4.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
+v -0.03311547 0.01463960 -0.00129378
+v -0.03628284 -0.00001885 -0.00129837
+v -0.03311547 0.01463960 -0.00129832
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+
diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_40.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71313b8cc4c7c83b8103e0ee81aa604ab74b28df
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_40.obj
@@ -0,0 +1,835 @@
+# https://github.com/mikedh/trimesh
+v -0.01293695 -0.01607316 -0.02345294
+v -0.01293695 -0.02560682 -0.01841557
+v -0.01293695 -0.01607314 -0.03057457
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+
diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_41.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f39d9ac55d2668e29445f24a56f0b3f555b56b9b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_41.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v 0.00765332 -0.02201089 -0.04517455
+v 0.00846845 -0.02120715 -0.04513855
+v 0.00846845 -0.02159344 -0.04515205
+v 0.00846845 -0.02201089 -0.04516555
+v 0.00007392 -0.02201090 -0.04479211
+v 0.00007392 -0.02154528 -0.04455814
+v 0.00846845 -0.01981409 -0.04439615
+v 0.00846845 -0.02201098 -0.02219190
+v 0.00007392 -0.02201098 -0.02289379
+v 0.00007392 -0.01236329 -0.03563366
+v 0.00846845 -0.01236329 -0.03649303
+v 0.00846845 -0.01236333 -0.02503770
+v 0.00007392 -0.01236333 -0.02545839
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 11
+f 2 11 12
+f 2 12 8
+f 2 8 4
+f 2 4 3
+f 5 9 13
+f 5 13 10
+f 5 10 6
+f 6 10 7
+f 7 10 11
+f 8 12 13
+f 8 13 9
+f 10 13 12
+f 10 12 11
+
diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_42.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5074490904c5dcc9b6416b2df2f5f69b845445df
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_42.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.00007392 -0.00997045 -0.02575352
+v 0.00007392 -0.00934214 -0.02582976
+v -0.01200739 -0.00001876 -0.02545801
+v -0.01200739 -0.00997045 -0.02488140
+v 0.00007392 -0.00997041 -0.03504306
+v 0.00007392 -0.00001875 -0.02742386
+v -0.00930163 -0.00001876 -0.02579518
+v -0.01200739 -0.00001872 -0.03572929
+v -0.01200739 -0.00997040 -0.03705181
+v 0.00007392 -0.00001872 -0.03417924
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 5
+f 1 5 10
+f 1 10 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 6
+f 3 6 10
+f 3 10 8
+f 3 8 9
+f 3 9 4
+f 5 9 10
+f 8 10 9
+
diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_43.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cf719d152d409fe5d611c48009ec6d309aba649
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_43.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.00934972 -0.02201089 -0.04528051
+v 0.01104527 -0.02201089 -0.04526550
+v 0.00846920 -0.02201089 -0.04516544
+v 0.00846920 -0.02159344 -0.04515294
+v 0.00934972 -0.02120715 -0.04525550
+v 0.01104527 -0.02120715 -0.04532554
+v 0.01274008 -0.02120715 -0.04530553
+v 0.01443563 -0.02120715 -0.04513292
+v 0.01280186 -0.02201089 -0.04503286
+v 0.00846920 -0.02201098 -0.02219415
+v 0.00846920 -0.02120715 -0.04514043
+v 0.01607238 -0.01781749 -0.04532553
+v 0.01607238 -0.01612503 -0.04507287
+v 0.01443563 -0.01951279 -0.04533053
+v 0.01607238 -0.01951279 -0.04523547
+v 0.01607238 -0.02124022 -0.04459010
+v 0.01443563 -0.02201090 -0.04474519
+v 0.01607238 -0.02201099 -0.01977519
+v 0.00846920 -0.01236333 -0.02503582
+v 0.00846920 -0.01981409 -0.04439747
+v 0.01607238 -0.01459407 -0.04440746
+v 0.01607238 -0.02133655 -0.04453757
+v 0.01568980 -0.02201090 -0.04428492
+v 0.01607238 -0.01236333 -0.02360746
+v 0.01607238 -0.02201090 -0.04367705
+v 0.00846920 -0.01236329 -0.03649270
+v 0.01607238 -0.01346639 -0.04306165
+v 0.01607238 -0.01236327 -0.04137314
+f 1 2 9
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+
diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_44.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77b4e2f4736f67e2fda73c3495d9b7a17703ef6b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_44.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.01200739 -0.01607241 -0.02365842
+v -0.01200739 -0.00844146 -0.02505500
+v -0.02191390 -0.01607243 -0.01977146
+v -0.01200739 -0.01607235 -0.04183430
+v -0.01200739 -0.00844142 -0.03665582
+v -0.02191390 -0.00844147 -0.02218420
+v -0.02191390 -0.01607234 -0.04365388
+v -0.01285007 -0.01607234 -0.04305319
+v -0.01349783 -0.01607234 -0.04388415
+v -0.01967873 -0.00844139 -0.04449232
+v -0.02191390 -0.00844138 -0.04529073
+v -0.02191390 -0.01559797 -0.04420452
+v -0.02115656 -0.01607234 -0.04448984
+v -0.01440353 -0.01607234 -0.04457995
+v -0.01441905 -0.01607234 -0.04458996
+v -0.02037110 -0.00844139 -0.04486525
+v -0.02178978 -0.00844138 -0.04527572
+v -0.02191390 -0.00860050 -0.04530826
+v -0.02191390 -0.01559275 -0.04420953
+v -0.02114977 -0.01607234 -0.04449485
+v -0.01608403 -0.01607233 -0.04518064
+v -0.02117014 -0.00844138 -0.04519813
+v -0.01777908 -0.01607233 -0.04533332
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+v -0.02191390 -0.01199054 -0.04523568
+v -0.02191390 -0.01376774 -0.04489280
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+f 29 37 30
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+f 30 35 31
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+f 31 35 34
+f 33 34 35
+
diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_45.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eaea0adf34696111d0a871763f9d2173ba614c07
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_45.obj
@@ -0,0 +1,418 @@
+# https://github.com/mikedh/trimesh
+v 0.01241651 0.03331569 -0.00432838
+v 0.01241651 0.03331569 -0.00432638
+v 0.01241651 0.04141489 -0.00432835
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+v 0.01241651 0.03607179 0.01604953
+v 0.02372238 0.02655601 -0.00432640
+v 0.02755651 0.02655593 0.01604950
+v 0.01241651 0.04162445 -0.00263883
+v 0.01274241 0.04132436 -0.00432835
+v 0.03419913 0.02655601 -0.00432840
+v 0.01241651 0.04368313 0.01604956
+v 0.03689739 0.02655593 0.01604950
+v 0.01241651 0.04187256 -0.00050051
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+v 0.01274241 0.04153392 -0.00263883
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+v 0.03386364 0.02700867 -0.00432840
+v 0.03425664 0.02655600 -0.00395738
+v 0.01262499 0.04362613 0.01604956
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+v 0.01443661 0.04118519 -0.00095131
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+v 0.01667957 0.04054141 0.00073621
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+v 0.03179561 0.03001463 -0.00095135
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+v 0.03458254 0.02954850 0.01604951
+v 0.03067653 0.03062657 -0.00432839
+v 0.03081791 0.03077074 -0.00263887
+v 0.01685930 0.04061182 0.00200684
+v 0.01963185 0.04101748 0.01604955
+v 0.01923885 0.03923374 -0.00095132
+v 0.02008715 0.03882299 -0.00095132
+v 0.01987388 0.03871738 -0.00263884
+v 0.01924364 0.03879787 -0.00432836
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+v 0.02448921 0.03836190 0.01604954
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+v 0.02580719 0.03751023 0.01604954
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+
diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_46.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e125b499cea57bb7cef0c2ec9fb984257a1ed68
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_46.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.01607238 -0.01236327 -0.04137479
+v 0.00979600 -0.01236328 -0.03682506
+v 0.00979600 -0.00001900 -0.03492581
+v 0.01607238 -0.00001899 -0.03698327
+v 0.01607238 -0.01236333 -0.02360892
+v 0.00979600 -0.01236333 -0.02487680
+v 0.00979600 -0.00001904 -0.02574635
+v 0.01607238 -0.00001904 -0.02474805
+f 1 2 3
+f 1 3 4
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+f 1 8 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 5 8 7
+f 5 7 6
+
diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_47.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42c6bb6da0028c54312bf92e2ac874d27757322e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_47.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.01241651 0.04368228 0.01604956
+v 0.01146568 0.04394300 0.01604956
+v 0.01241651 0.03607431 0.01604953
+v 0.01241651 0.04187235 -0.00050096
+v 0.01152851 0.04226111 0.00073482
+v 0.01062480 0.04415180 0.01604956
+v 0.01100054 0.04220228 -0.00108670
+v 0.01016933 0.04234879 -0.00174049
+v 0.00007513 0.03812656 0.01604954
+v 0.01241651 0.03355377 -0.00325405
+v 0.01241651 0.04181813 -0.00097712
+v 0.01048828 0.04418179 0.01604956
+v 0.01104403 0.04201194 -0.00263992
+v 0.01104403 0.04193581 -0.00325402
+v 0.01032880 0.04211577 -0.00325402
+v 0.00992044 0.04229457 -0.00263991
+v 0.00907231 0.04247569 -0.00263991
+v 0.00950242 0.04255874 -0.00108670
+v 0.00934898 0.04442751 0.01604956
+v 0.00007513 0.04533654 0.01604957
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+v 0.00889713 0.04243878 -0.00325401
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+v 0.00074083 0.04533769 0.01604957
+v 0.00007513 0.04354968 -0.00095255
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+v 0.00595888 0.04317707 -0.00095255
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+v 0.00426383 0.04317708 -0.00263991
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+v 0.00595888 0.04497777 0.01604957
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+v 0.00087252 0.04336281 -0.00263991
+v 0.00256757 0.04322668 -0.00325401
+v 0.00426383 0.04516004 0.01604957
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+
diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_48.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d0de93739a29a3ee9075cf25d58f72d3bf426ef
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_48.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.00007393 0.01437114 -0.03635949
+v 0.01305108 0.00691536 -0.03635981
+v 0.01273733 0.00760864 -0.03635951
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+
diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_49.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..507ede91139a6f0a2942e7008a3df4f695f44e02
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_49.obj
@@ -0,0 +1,406 @@
+# https://github.com/mikedh/trimesh
+v -0.01293695 -0.04005881 -0.01095740
+v -0.01293695 -0.04005516 -0.01097535
+v -0.01269115 -0.04014103 -0.01095740
+v -0.01293695 -0.03100922 -0.01095736
+v -0.01293695 -0.04003324 -0.01107674
+v -0.01257780 -0.04017757 -0.01095740
+v -0.01269242 -0.04011363 -0.01107674
+v -0.01293695 -0.02340666 -0.02012340
+v 0.00007265 -0.03368043 -0.01095737
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+v -0.01108007 -0.04055396 -0.01117992
+v -0.01120234 -0.04057588 -0.01095740
+v 0.00007265 -0.02681784 -0.02012341
+v -0.01293695 -0.03626574 -0.02012344
+v 0.00007265 -0.04207044 -0.01095740
+v -0.01099729 -0.04014833 -0.01276442
+v -0.01293695 -0.03950337 -0.01300757
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+v -0.01002937 -0.04067272 -0.01181156
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+v -0.01293695 -0.03653980 -0.01968739
+v -0.00082522 -0.04206862 -0.01095740
+v 0.00007265 -0.04204304 -0.01107674
+v -0.00939895 -0.04053202 -0.01280479
+v -0.01099729 -0.03960751 -0.01445120
+v -0.01293695 -0.03892966 -0.01473382
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+v -0.00889843 -0.04080060 -0.01227005
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+v 0.00007265 -0.03869395 -0.01980763
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+v -0.01138701 -0.03678829 -0.02012345
+v -0.01265294 -0.03680473 -0.01942003
+v -0.01293695 -0.03668597 -0.01944335
+v -0.00235734 -0.04200467 -0.01095740
+v -0.00252035 -0.04197178 -0.01107674
+v -0.00082522 -0.04204121 -0.01107674
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_5.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf9540d0cca79785089ebfbc323f663683858652
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_5.obj
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_50.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f60d2e6137438c36a4a20c70c57a0cba1e390635
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_50.obj
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_51.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..123b7ac23373b36fa83b6a37b2c189e4a71422b9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_51.obj
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_52.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81031dfb5f3f234a309557b62d4f81b9f315f2f7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_52.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_53.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d567977bb6bee5422ec92d6e053ad10775d01574
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_53.obj
@@ -0,0 +1,418 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_54.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35afa6ba1f8c55ebcc5c63cdb204b10e53c2e9ee
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_54.obj
@@ -0,0 +1,415 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_55.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..863731c9ed615bfa78427348db989c31b18229db
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_55.obj
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_56.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1694a5157f99ae10d5d9fd5fc1e4f93145e56ca
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_56.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_57.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f8331ec6d765b16e237cf427d1eb45d11a24017
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_57.obj
@@ -0,0 +1,460 @@
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_58.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f0731a8668c2b9d6e5dbdc87e70d53e04260cc7
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_58.obj
@@ -0,0 +1,472 @@
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_59.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c3e8c78fbc6c885451dee7c94c92e4f41f86bd8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_59.obj
@@ -0,0 +1,304 @@
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_6.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc813c11cfa4bcaf84b6039e51543fa7b9f7be66
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_6.obj
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_60.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f22c9ce0428faf2eaac58bd139ffaafdcd28739
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_60.obj
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_61.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db0adc8e6ac45a4331ac81e1f032a6f563385c10
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_61.obj
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_62.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e456c8c049421a83872bf014348077437cf8cf4b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_62.obj
@@ -0,0 +1,1093 @@
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_63.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5efa8ebdfd6354bab1a7e7f847bf9398cafe6516
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_63.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_64.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c2d17a27a92a7a7037426e0e350a870db55daea
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_64.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_65.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ebff345ae188c2c0c6474a3c42907dffb54651e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_65.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_66.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8926f7f699662febfefe13f9dfef2565b82b7812
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_66.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_67.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18cb831089aacd424d9443f15d9a10ad091e9def
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_67.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_68.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c30799d95db9c9dd367dd8cafd84c57d3e260776
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_68.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_69.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9e2f67395362fbadbf4705514f73eb1b78f83b5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_69.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_7.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd589ea25050a72bdb311c28a2206f0ae56ef519
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_7.obj
@@ -0,0 +1,430 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_70.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..204e404af07faebcf04a153ba003758e5900f58c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_70.obj
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_8.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a8aae35ed7fa1c41c8680fedc577e576142ee2f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_8.obj
@@ -0,0 +1,364 @@
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diff --git a/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_9.obj b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c080fae382347041a5bef6a7411da677a72e31d0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/mjcf/mesh/coffee_cup_038_collision_9.obj
@@ -0,0 +1,430 @@
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