diff --git a/.gitattributes b/.gitattributes
index 11a91c157e6c055da05f69fba98d6bf11d20e208..b272353b46066f7d5890deae2b2ab822c110f274 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4781,3 +4781,7 @@ dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mesh/purple_cup.g
 dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/mesh/purple_cup_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/b81cbabde2f453dd827a2b075fe90188/mesh/thermos_034.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/b81cbabde2f453dd827a2b075fe90188/thermos_034.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/coffee_cup_001.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mesh/coffee_cup_001.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mesh/coffee_cup_001.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001.obj filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/coffee_cup_001.urdf b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/coffee_cup_001.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5ea4040f9cd7a76ad5a7330b1c82ecac6c5e9531
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/coffee_cup_001.urdf
@@ -0,0 +1,61 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="coffee_cup_001">
+   <link name="coffee_cup_001">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/coffee_cup_001.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_001_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>af832cd79a295f4a8da4a6cad6ecedf3</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>coffee_cup</category>
+         <name>gray coffee cup</name>
+         <color>gray</color>
+         <shape>cylinder</shape>
+         <material>ceramic</material>
+         <description>simple gray coffee cup with matching saucer</description>
+         <min_height>0.0702</min_height>
+         <max_height>0.0702</max_height>
+         <real_height>0.0702</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260414153839</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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/af832cd79a295f4a8da4a6cad6ecedf3/coffee_cup_001.usd b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/coffee_cup_001.usd
new file mode 100644
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+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/coffee_cup_001.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 88155427
diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mesh/coffee_cup_001.glb b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mesh/coffee_cup_001.glb
new file mode 100644
index 0000000000000000000000000000000000000000..bb525956717105092bcf4228ee981de23190b2d6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mesh/coffee_cup_001.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 60847536
diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mesh/coffee_cup_001.mtl b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mesh/coffee_cup_001.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8dc0c67f55e2ce5a27ec36e84a9b949ef63a5ed8
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+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mesh/coffee_cup_001.mtl
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+newmtl coffee_cup_001_geometry_Looks_material_0
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+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mesh/coffee_cup_001.obj b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mesh/coffee_cup_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a0f6cd8f32c6aa4c38c415890e0010ca59bc0bd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mesh/coffee_cup_001.obj
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+version https://git-lfs.github.com/spec/v1
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+size 75581572
diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mesh/coffee_cup_001_collision.obj b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mesh/coffee_cup_001_collision.obj
new file mode 100644
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diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mesh/coffee_cup_001_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mesh/coffee_cup_001_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..116dcbbf8741c020ffde1eba191f2504a5d00e34
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mesh/coffee_cup_001_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d434adfe0a09d89f903cfb4a2bad42ac17410478371d341c93770f30af08ff2
+size 10342987
diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mesh/material.mtl b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d5358165670cf13504fa5755219559cebc91a63c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl coffee_cup_001_geometry_Looks_material_0
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+Ns 1.00000000
+map_Kd coffee_cup_001_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mesh/material_0.png b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..116dcbbf8741c020ffde1eba191f2504a5d00e34
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+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/coffee_cup_001.xml b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/coffee_cup_001.xml
new file mode 100644
index 0000000000000000000000000000000000000000..33781382d6bdf958e32d5ba143b2dc30936a9130
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/coffee_cup_001.xml
@@ -0,0 +1,108 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="coffee_cup_001">
+  <asset>
+    <material name="material_0" texture="texture_0_coffee_cup_001_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_coffee_cup_001_geometry_Looks_material_0" type="2d" file="mesh/coffee_cup_001_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/coffee_cup_001.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/coffee_cup_001_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/coffee_cup_001_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/coffee_cup_001_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/coffee_cup_001_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/coffee_cup_001_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/coffee_cup_001_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/coffee_cup_001_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/coffee_cup_001_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/coffee_cup_001_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/coffee_cup_001_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/coffee_cup_001_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/coffee_cup_001_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/coffee_cup_001_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/coffee_cup_001_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/coffee_cup_001_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/coffee_cup_001_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/coffee_cup_001_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/coffee_cup_001_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/coffee_cup_001_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/coffee_cup_001_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/coffee_cup_001_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/coffee_cup_001_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/coffee_cup_001_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/coffee_cup_001_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/coffee_cup_001_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/coffee_cup_001_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/coffee_cup_001_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/coffee_cup_001_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/coffee_cup_001_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/coffee_cup_001_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/coffee_cup_001_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/coffee_cup_001_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/coffee_cup_001_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/coffee_cup_001_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/coffee_cup_001_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/coffee_cup_001_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/coffee_cup_001_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/coffee_cup_001_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/coffee_cup_001_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/coffee_cup_001_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/coffee_cup_001_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/coffee_cup_001_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/coffee_cup_001_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_45" file="mesh/coffee_cup_001_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/coffee_cup_001_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
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+    <body name="coffee_cup_001">
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+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_46" 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/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001.obj b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6138c98db3d95ba90d7ebaf26d7a19099c284817
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9d2ac809617be0f04a3d1c1222351955687b0cfe9021e0d0f935976cac3a442
+size 72390075
diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision.obj b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bf917b8484428d6310b3fc4ac867aafd60a1e98
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision.obj
@@ -0,0 +1,36835 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_0.obj b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e26ed69c9f343db86dd455ad261ddc74e47e3d9
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_1.obj b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f062605915354acc5db3936299024ac5951901db
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_10.obj b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9e7333dbd43d5da761fd0581f4c487531ebfffb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_10.obj
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diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_11.obj b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a507f3513ef1568b70d8f7b02fbfd92342f1b432
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_11.obj
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diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_12.obj b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aca91d4238838009460f54291e2e157fcb5b40ad
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_12.obj
@@ -0,0 +1,133 @@
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diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_13.obj b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97a9b23520dd9ff0834171ef788162f74b268baa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_13.obj
@@ -0,0 +1,511 @@
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diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_14.obj b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..084bc78f2184cacf79c4ded466591a8f3a91b697
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_14.obj
@@ -0,0 +1,748 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_15.obj b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73b939fbd761c2b603e201db56eea280fa2425fa
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_15.obj
@@ -0,0 +1,418 @@
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diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_16.obj b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4953a69ed9f873388b96b84d60caf362ec5dcc0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_16.obj
@@ -0,0 +1,652 @@
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diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_17.obj b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1ed72303bc84b76d8c8cb93a51f603ddb9b241f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_17.obj
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diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_18.obj b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..360d48e6fe2783d2cb189fa6a7347c440900540c
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_18.obj
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diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_19.obj b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c346e6f47a2dc865e26a37d7d1dfe2e8310677cd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_19.obj
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diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_2.obj b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c20508158d863893771d5523c3192d237f88458f
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_2.obj
@@ -0,0 +1,298 @@
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diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_20.obj b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4eb9d92a7deb03d43464d53738dacbfcb540d538
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_20.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_21.obj b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9746466cdd71ae8e83ad6d5ebbfd7835fb7a74f8
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_21.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.04206377 -0.02471663 0.02760678
+v -0.04206377 -0.02471663 0.02860678
+v -0.04206377 -0.00556857 0.02760678
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+v -0.02150432 -0.00556857 0.02860678
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+
diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_22.obj b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e64bc6e162ee904baf0d973b5192138f1501764
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_22.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+v -0.00816038 -0.02471663 0.02860672
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diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_23.obj b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68c77b3c6c50fc8f815ee4f72ee13aa838f58ad1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_23.obj
@@ -0,0 +1,646 @@
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diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_24.obj b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70be873c226e5f4a431bd12361b01eded01c0eeb
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_24.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_25.obj b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e604f21384b401ae5f15724a1063c9d00b1198c5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_25.obj
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diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_26.obj b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e3f2f4f265b8d9db4a2a2bbd7c513052fde22a3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_26.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_27.obj b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf100ab1541a54991a36d37daa8b47382ecdd646
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_27.obj
@@ -0,0 +1,367 @@
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diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_28.obj b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..843f128b79ee3f3a4e8653381f4b5eebc23ea699
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_28.obj
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diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_29.obj b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4f82d30b56746abccdd209ee73f40f299022c41
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_29.obj
@@ -0,0 +1,334 @@
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diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_3.obj b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46328d09ab1e68a70c09a23819692f1b783abcde
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_3.obj
@@ -0,0 +1,592 @@
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diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_30.obj b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22eb42416cd2ac4ef334e122a1be1e2939fb3983
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_30.obj
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diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_31.obj b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ca358a87f877b735180f195a7fe2dc34b60b865
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_31.obj
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+
diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_32.obj b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abb933eacabc7f62b979b73d3f5bf1ac19fb5fb4
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_32.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00816038 -0.03927982 0.02772397
+v -0.00816038 -0.03927982 0.02872397
+v -0.00816038 -0.02781029 0.02772397
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+v 0.01081284 -0.02781029 0.02872397
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+
diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_33.obj b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c4d4db179e483eb909afba0e5452c5c25320fa1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_33.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_34.obj b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb3e678b75fc64965a0d7f85d05f331732397b9b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_34.obj
@@ -0,0 +1,538 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_35.obj b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28d9781baf2c4ca708c868f4ef90e592f0686362
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_35.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_36.obj b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aeb5f2a7fe3edf797ba8460f3630577ab2e3c669
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_36.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_37.obj b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..277d55071c2b6dad7fcca3f79a156c5efa4161c2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_37.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_38.obj b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7703e0abee9a20499a29692c94607ab6fd6c30fd
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_38.obj
@@ -0,0 +1,631 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_39.obj b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b340ab5bbdf646781a482e1283d0a511e7a6562d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_39.obj
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diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_4.obj b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e418d5bd6f148685f584c1b820e4403526da456
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_4.obj
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diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_40.obj b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10e4141e906175178a626a2c64833e21ee6dd25d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_40.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_41.obj b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfe14c813f967a3ec1cdf65c70b6a2c2059d8d56
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_41.obj
@@ -0,0 +1,763 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_42.obj b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b6c9add18ad49aa71cbffafebef0c2910365aa0
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_42.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.01806409 0.00674913 0.02772251
+v 0.01806409 0.00674913 0.02872251
+v 0.01806409 0.03297752 0.02772251
+v 0.01806409 0.03297752 0.02872251
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+v 0.03542264 0.00674913 0.02872251
+v 0.03542264 0.03297752 0.02772251
+v 0.03542264 0.03297752 0.02872251
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+f 7 6 5
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+
diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_43.obj b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffdd9a03524c71b33e3df5acefc3a2661303780d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_43.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_44.obj b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74b8abe4a25f8992cca4a4f4f67d50afcd9b39f2
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_44.obj
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diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_45.obj b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6eb1ca16cc8c2fc539057ead3db988396d8b1978
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_45.obj
@@ -0,0 +1,397 @@
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diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_46.obj b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15516e4c00d307c94b59a41e06e2350eda582103
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_46.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_5.obj b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b724e1763c6969c80ad6074ad2cdc8eaef302ec3
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_5.obj
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diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_6.obj b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2153a7458df4ed818788fd62ee2b732f6aa90061
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_6.obj
@@ -0,0 +1,526 @@
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diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_7.obj b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c54a410fafe7082aee72fe5df72f74c272e45e17
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_7.obj
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diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_8.obj b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af8689e3214f3d166ffc5ea66c1a6f26663f5487
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_8.obj
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diff --git a/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_9.obj b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04eba0e572f49407ee0402bf6a619281a7599623
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/mjcf/mesh/coffee_cup_001_collision_9.obj
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